0.0.25

Ultrasonic + IR events + Remote events

README.md

@@ -1,6 +1,6 @@
 # LEGO Mindstorms EV3 target for PXT
 
-[![Build Status](https://ci2.dot.net/buildStatus/icon?job=Private/pxt_project_pink/master/pxt-ev3_Push)](https://ci2.dot.net/job/Private/job/pxt_project_pink/job/master/job/pxt-ev3_Push/)
+[![Build Status](https://ci2.dot.net/buildStatus/icon?job=Private/pxt_project_rainbow/master/pxt-ev3_Push)](https://ci2.dot.net/job/Private/job/pxt_project_rainbow/job/master/job/pxt-ev3_Push/)
 
 This repo contains the editor target hosted at https://d541eec2-1e96-4b7b-a223-da9d01d0337a.pxt.io/
 

libs/core/_locales/core-jsdoc-strings.json

@@ -21,51 +21,57 @@
   "input": "Respond to and read data from buttons and sensors.",
   "input.Button": "Generic button class, for device buttons and sensors.",
   "input.Button.isPressed": "Check if button is currently pressed or not.",
-  "input.Button.onEvent": "Do something when a button or sensor is clicked, double clicked, etc...",
+  "input.Button.onEvent": "Do something when a button or sensor is clicked, up or down.",
   "input.Button.onEvent|param|body": "code to run when the event is raised",
   "input.Button.wasPressed": "See if the button was pressed again since the last time you checked.",
   "input.ColorSensor.ambientLight": "Get current ambient light value from the color sensor.",
   "input.ColorSensor.color": "Get the current color from the color sensor.",
+  "input.ColorSensor.onColorDetected": "Registers code to run when the given color is detected",
+  "input.ColorSensor.onColorDetected|param|color": "the color to dtect",
+  "input.ColorSensor.onColorDetected|param|handler": "the code to run when detected",
   "input.ColorSensor.reflectedLight": "Get current reflected light value from the color sensor.",
   "input.GyroSensor.angle": "Get the current angle from the gyroscope.",
   "input.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
-  "input.IrSensor.distance": "Get the distance measured by the infrared sensor.",
-  "input.IrSensor.remoteCommand": "Get the remote commandreceived the infrared sensor.",
+  "input.InfraredSensor.onObjectNear": "Registers code to run when an object is getting near.",
+  "input.InfraredSensor.onObjectNear|param|handler": "the code to run when detected",
+  "input.InfraredSensor.proximity": "Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)",
+  "input.InfraredSensor.remoteCommand": "Get the remote commandreceived the infrared sensor.",
+  "input.RemoteInfraredBeaconButton.isPressed": "Check if a remote button is currently pressed or not.",
+  "input.RemoteInfraredBeaconButton.onEvent": "Do something when a button or sensor is clicked, up or down",
+  "input.RemoteInfraredBeaconButton.onEvent|param|body": "code to run when the event is raised",
+  "input.RemoteInfraredBeaconButton.wasPressed": "See if the remote button was pressed again since the last time you checked.",
   "input.TouchSensor.isTouched": "Check if touch sensor is touched.",
   "input.TouchSensor.onEvent": "Do something when a touch sensor is touched...",
   "input.TouchSensor.onEvent|param|body": "code to run when the event is raised",
   "input.UltraSonicSensor.distance": "Gets the distance from the sonar in millimeters",
+  "input.UltraSonicSensor.onObjectNear": "Registers code to run when the given color is close",
+  "input.UltraSonicSensor.onObjectNear|param|handler": "the code to run when detected",
   "input.buttonDown": "Down button on the EV3 Brick.",
   "input.buttonEnter": "Enter button on the EV3 Brick.",
   "input.buttonLeft": "Left button on the EV3 Brick.",
   "input.buttonRight": "Right button on the EV3 Brick.",
   "input.buttonUp": "Up button on the EV3 Brick.",
-  "input.remoteBottomLeft": "Remote bottom-left button.",
-  "input.remoteBottomRight": "Remote bottom-right button.",
-  "input.remoteCenter": "Remote beacon (center) button.",
-  "input.remoteTopLeft": "Remote top-left button.",
-  "input.remoteTopRight": "Remote top-right button.",
+  "input.remoteButtonBottomLeft": "Remote bottom-left button.",
+  "input.remoteButtonBottomRight": "Remote bottom-right button.",
+  "input.remoteButtonCenter": "Remote beacon (center) button.",
+  "input.remoteButtonTopLeft": "Remote top-left button.",
+  "input.remoteButtonTopRight": "Remote top-right button.",
+  "output.Motor.off": "Power off the motor.",
+  "output.Motor.on": "Power on the motor.",
+  "output.Motor.onForTime": "Power on the motor for a specified number of milliseconds.",
+  "output.Motor.onForTime|param|brake": "whether or not to use the brake",
+  "output.Motor.onForTime|param|ms": "the number of milliseconds to turn the motor on, eg: 500",
+  "output.Motor.onForTime|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
+  "output.Motor.on|param|power": "the motor power level from ``-100`` to ``100``, eg: 50",
+  "output.Motor.setPower": "Sets the motor power level from ``-100`` to ``100``.",
+  "output.Motor.setPower|param|power": "the desired speed to use. eg: 50",
+  "output.Motor.speed": "Gets motor actual speed.",
   "output.createBuffer": "Create a new zero-initialized buffer.",
   "output.createBuffer|param|size": "number of bytes in the buffer",
-  "output.getCurrentSpeed": "Get motor speed.",
-  "output.getCurrentSpeed|param|out": "the output connection that the motor is connected to",
   "output.pattern": "Pattern block.",
   "output.pattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
-  "output.powerMotor": "Switch the motor on or off.",
-  "output.powerMotor|param|on": "1 to turn the motor on, 0 to turn it off",
-  "output.powerMotor|param|out": "the output connection that the motor is connected to",
-  "output.setPower": "Set motor power.",
-  "output.setPower|param|out": "the output connection that the motor is connected to",
-  "output.setPower|param|power": "the desired power to use. eg: 100",
-  "output.setSpeed": "Set motor speed.",
-  "output.setSpeed|param|out": "the output connection that the motor is connected to",
-  "output.setSpeed|param|speed": "the desired speed to use. eg: 100",
   "output.setStatusLight": "Set lights.",
   "output.setStatusLight|param|pattern": "the lights pattern to use.",
-  "output.turn": "Turn a motor on for a specified number of milliseconds.",
-  "output.turn|param|ms": "the number of milliseconds to turn the motor on, eg: 500",
-  "output.turn|param|out": "the output connection that the motor is connected to",
-  "output.turn|param|useBrake": "whether or not to use the brake, defaults to false",
   "screen.clear": "Clear screen and reset font to normal.",
   "screen.doubleIcon": "Double size of an icon.",
   "screen.drawIcon": "Draw an icon on the screen.",
@@ -73,6 +79,10 @@
   "screen.print|param|text": "the text to print on the screen, eg: \"Hello world\"",
   "screen.print|param|x": "the starting position's x coordinate, eg: 0",
   "screen.print|param|y": "the starting position's x coordinate, eg: 0",
+  "screen.setPixel": "Sets a pixel on or off",
+  "screen.setPixel|param|on": "a value indicating if the pixel should be on or off",
+  "screen.setPixel|param|x": "the starting position's x coordinate, eg: 0",
+  "screen.setPixel|param|y": "the starting position's x coordinate, eg: 0",
   "serial": "Reading and writing data over a serial connection.",
   "serial.writeDmesg": "Send DMESG debug buffer over serial."
 }

libs/core/_locales/core-strings.json

@@ -2,6 +2,14 @@
   "ButtonEvent.Click|block": "click",
   "ButtonEvent.Down|block": "down",
   "ButtonEvent.Up|block": "up",
+  "ColorSensorColor.Black|block": "black",
+  "ColorSensorColor.Blue|block": "blue",
+  "ColorSensorColor.Brown|block": "brown",
+  "ColorSensorColor.Green|block": "green",
+  "ColorSensorColor.None|block": "none",
+  "ColorSensorColor.Red|block": "red",
+  "ColorSensorColor.White|block": "white",
+  "ColorSensorColor.Yellow|block": "yellow",
   "LightsPattern.GreenFlash|block": "Flashing Green",
   "LightsPattern.GreenPulse|block": "Pulsing Green",
   "LightsPattern.Green|block": "Green",
@@ -12,9 +20,16 @@
   "LightsPattern.RedFlash|block": "Flashing Red",
   "LightsPattern.RedPulse|block": "Pulsing Red",
   "LightsPattern.Red|block": "Red",
+  "Output.ALL|block": "All",
+  "Output.A|block": "A",
+  "Output.B|block": "B",
+  "Output.C|block": "C",
+  "Output.D|block": "D",
+  "PromixityEvent.ObjectDetected|block": "object detected",
+  "PromixityEvent.ObjectNear|block": "object near",
   "TouchSensorEvent.Bumped|block": "bumped",
+  "TouchSensorEvent.Pressed|block": "pressed",
   "TouchSensorEvent.Released|block": "released",
-  "TouchSensorEvent.Touched|block": "touched",
   "control.raiseEvent|block": "raise event|from %src|with value %value",
   "control|block": "control",
   "input.Button.isPressed|block": "%button|is pressed",
@@ -22,14 +37,20 @@
   "input.Button.wasPressed|block": "%button|was pressed",
   "input.ColorSensor.ambientLight|block": "%color| ambient light",
   "input.ColorSensor.color|block": "%color| color",
+  "input.ColorSensor.onColorDetected|block": "on %sensor|detected %color",
   "input.ColorSensor.reflectedLight|block": "%color| reflected light",
   "input.GyroSensor.angle|block": "%sensor|angle",
   "input.GyroSensor.rate|block": "%sensor|rotation rate",
-  "input.IrSensor.distance|block": "%infrared|distance",
-  "input.IrSensor.remoteCommand|block": "%infrared|remote command",
+  "input.InfraredSensor.onObjectNear|block": "on %sensor|object near",
+  "input.InfraredSensor.proximity|block": "%infrared|proximity",
+  "input.InfraredSensor.remoteCommand|block": "%infrared|remote command",
+  "input.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed",
+  "input.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event",
+  "input.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed",
   "input.TouchSensor.isTouched|block": "%sensor|is touched",
   "input.TouchSensor.onEvent|block": "on %sensor|%event",
   "input.UltraSonicSensor.distance|block": "%sensor|distance",
+  "input.UltraSonicSensor.onObjectNear|block": "on %sensor|object near",
   "input.buttonDown|block": "brick button down",
   "input.buttonEnter|block": "brick button enter",
   "input.buttonLeft|block": "brick button left",
@@ -43,11 +64,15 @@
   "input.gyro2|block": "gyro sensor 2",
   "input.gyro3|block": "gyro sensor 3",
   "input.gyro4|block": "gyro sensor 4",
-  "input.remoteBottomLeft|block": "remote bottom-left",
-  "input.remoteBottomRight|block": "remote bottom-right",
-  "input.remoteCenter|block": "remote center",
-  "input.remoteTopLeft|block": "remote top-left",
-  "input.remoteTopRight|block": "remote top-right",
+  "input.infraredSensor1|block": "infrared sensor 1",
+  "input.infraredSensor2|block": "infrared sensor 2",
+  "input.infraredSensor3|block": "infrared sensor 3",
+  "input.infraredSensor4|block": "infrared sensor 4",
+  "input.remoteButtonBottomLeft|block": "remote button bottom-left",
+  "input.remoteButtonBottomRight|block": "remote button bottom-right",
+  "input.remoteButtonCenter|block": "remote button center",
+  "input.remoteButtonTopLeft|block": "remote button top-left",
+  "input.remoteButtonTopRight|block": "remote button top-right",
   "input.touchSensor1|block": "touch sensor 1",
   "input.touchSensor2|block": "touch sensor 2",
   "input.touchSensor3|block": "touch sensor 3",
@@ -57,15 +82,20 @@
   "input.ultrasonic3|block": "ultrasonic sensor 3",
   "input.ultrasonic4|block": "ultrasonic sensor 4",
   "input|block": "input",
-  "output.getCurrentSpeed|block": "motor %out|speed",
+  "output.Motor.off|block": "%motor|OFF then brake %brake",
+  "output.Motor.onForTime|block": "%motor|ON at power %power|for %ms=timePicker|ms then brake %brake",
+  "output.Motor.on|block": "%motor|ON at power %power",
+  "output.Motor.setPower|block": "%motor|set power to %speed",
+  "output.Motor.speed|block": "%motor|speed",
+  "output.motorA|block": "motor A",
+  "output.motorB|block": "motor B",
+  "output.motorC|block": "motor C",
+  "output.motorD|block": "motor D",
   "output.pattern|block": "%pattern",
-  "output.powerMotor|block": "power motor %out|%on",
-  "output.setPower|block": "set motor %out| power to %power",
-  "output.setSpeed|block": "set motor %out| speed to %speed",
   "output.setStatusLight|block": "set status light %pattern=led_pattern",
-  "output.turn|block": "turn motor %out| on for %ms=timePicker|milliseconds",
   "output|block": "output",
   "screen.print|block": "print %text| at x: %x| y: %y",
+  "screen.setPixel|block": "set pixel %on| at x: %x| y: %y",
   "screen|block": "screen",
   "serial|block": "serial",
   "{id:category}Control": "Control",
@@ -79,6 +109,7 @@
   "{id:group}Gyro Sensor": "Gyro Sensor",
   "{id:group}Infrared Sensor": "Infrared Sensor",
   "{id:group}Motors": "Motors",
+  "{id:group}Remote Infrared Beacon": "Remote Infrared Beacon",
   "{id:group}Touch Sensor": "Touch Sensor",
   "{id:group}Ultrasonic Sensor": "Ultrasonic Sensor"
 }

libs/core/buttons.ts

@@ -65,7 +65,7 @@ namespace input {
         }
 
         //% hidden
-        update(curr: boolean) {
+        _update(curr: boolean) {
             if (this._isPressed == curr) return
             this._isPressed = curr
             if (curr) {
@@ -112,7 +112,7 @@ namespace input {
         }
 
         /**
-         * Do something when a button or sensor is clicked, double clicked, etc...
+         * Do something when a button or sensor is clicked, up or down.
          * @param button the button that needs to be clicked or used
          * @param event the kind of button gesture that needs to be detected
          * @param body code to run when the event is raised
@@ -159,7 +159,7 @@ namespace input {
             if (curr & DAL.BUTTON_ID_ESCAPE)
                 control.reset()
             for (let b of buttons)
-                b.update(!!(curr & b.mask))
+                b._update(!!(curr & b.mask))
         })
         control.dmesg("runtime started, " + control.deviceFirmwareVersion())
     }

libs/core/color.ts

@@ -9,13 +9,21 @@ const enum ColorSensorMode {
 }
 
 const enum ColorSensorColor {
+    //% block="none"
     None,
+    //% block="black"
     Black,
+    //% block="blue"
     Blue,
+    //% block="green"
     Green,
+    //% block="yellow"
     Yellow,
+    //% block="red"
     Red,
+    //% block="white"
     White,
+    //% block="brown"
     Brown,
 }
 
@@ -35,6 +43,35 @@ namespace input {
             this._setMode(m)
         }
 
+        _query() {
+            if (this.mode == ColorSensorMode.Color)
+                return this.getNumber(NumberFormat.UInt8LE, 0)
+            return 0
+        }
+
+        _update(prev: number, curr: number) {
+            control.raiseEvent(this._id, curr);
+        }
+
+        /**
+         * Registers code to run when the given color is detected
+         * @param color the color to dtect
+         * @param handler the code to run when detected
+         */
+        //% help=input/color/on-color-detected
+        //% block="on %sensor|detected %color"
+        //% blockId=colorOnColorDetected
+        //% parts="colorsensor"
+        //% blockNamespace=input
+        //% weight=100 blockGap=8
+        //% group="Color Sensor"
+        onColorDetected(color: ColorSensorColor, handler: () => void) {
+            control.onEvent(this._id, <number>color, handler);
+            this.setMode(ColorSensorMode.Color)
+            if (this.color() == color)
+                control.runInBackground(handler)
+        }
+
         /**
          * Get current ambient light value from the color sensor.
          * @param color the color sensor to query the request

libs/core/ir.ts

@@ -40,24 +40,24 @@ namespace input {
         }
     }
 
-    let buttons: Button[]
+    let buttons: RemoteInfraredBeaconButton[]
 
-    function create(ir: IrSensor) {
+    function create(ir: InfraredSensor) {
         // it's created by referencing it
     }
 
-    export function irButton(id: IrRemoteButton) {
+    export function irButton(id: IrRemoteButton): RemoteInfraredBeaconButton {
         if (buttons == null) {
             buttons = []
             for (let i = 0; i < 5; ++i) {
-                buttons.push(new Button())
+                buttons.push(new RemoteInfraredBeaconButton(new Button()))
             }
 
             // make sure sensors are up
-            create(ir1)
-            create(ir2)
-            create(ir3)
-            create(ir4)
+            create(infraredSensor1)
+            create(infraredSensor2)
+            create(infraredSensor3)
+            create(infraredSensor4)
         }
 
         let num = -1
@@ -69,29 +69,101 @@ namespace input {
         return buttons[num]
     }
 
-    //% fixedInstance
-    export class IrSensor extends internal.UartSensor {
-        private channel: IrRemoteChannel
+    //% fixedInstances
+    export class RemoteInfraredBeaconButton extends control.Component {
+        private button: Button;
+        constructor(button: Button) {
+            super();
+            this.button = button;
+        }
+
+        _update(curr: boolean) {
+            this.button._update(curr);
+        }
+
+        /**
+         * Check if a remote button is currently pressed or not.
+         * @param button the remote button to query the request
+         */
+        //% help=input/remote-infrared-beacon/is-pressed
+        //% block="%button|is pressed"
+        //% blockId=remoteButtonIsPressed
+        //% parts="remote"
+        //% blockNamespace=input
+        //% weight=81 blockGap=8
+        //% group="Remote Infrared Beacon"
+        isPressed() {
+            return this.button.isPressed();
+        }
+
+        /**
+         * See if the remote button was pressed again since the last time you checked.
+         * @param button the remote button to query the request
+         */
+        //% help=input/remote-infrared-beacon/was-pressed
+        //% block="%button|was pressed"
+        //% blockId=remotebuttonWasPressed
+        //% parts="remote"
+        //% blockNamespace=input
+        //% weight=80 blockGap=8
+        //% group="Remote Infrared Beacon"
+        wasPressed() {
+            return this.button.wasPressed();
+        }
+
+        /**
+         * Do something when a button or sensor is clicked, up or down
+         * @param button the button that needs to be clicked or used
+         * @param event the kind of button gesture that needs to be detected
+         * @param body code to run when the event is raised
+         */
+        //% help=input/remote-infrared-beacon/on-event
+        //% blockId=remotebuttonEvent block="on %button|%event"
+        //% parts="remote"
+        //% blockNamespace=input
+        //% weight=99 blockGap=8
+        //% group="Remote Infrared Beacon"
+        onEvent(ev: ButtonEvent, body: () => void) {
+            this.button.onEvent(ev, body);
+        }
+    }
+        
+    //% fixedInstances
+    export class InfraredSensor extends internal.UartSensor {
+        private channel: IrRemoteChannel;
+        private proximityThreshold: number;
 
         constructor(port: number) {
             super(port)
             this.channel = IrRemoteChannel.Ch0
+            this.proximityThreshold = 10;
             irButton(0) // make sure buttons array is initalized
 
             // and set the mode, as otherwise button events won't work
-            this.mode = IrSensorMode.RemoteControl
+            this.mode = IrSensorMode.RemoteControl;
         }
 
         _query() {
             if (this.mode == IrSensorMode.RemoteControl)
-                return mapButton(this.getNumber(NumberFormat.UInt8LE, this.channel))
+                return mapButton(this.getNumber(NumberFormat.UInt8LE, this.channel));
+            else if (this.mode == IrSensorMode.Proximity) {
+                const d = this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
+                return d < this.proximityThreshold ? PromixityEvent.ObjectNear
+                    : d > this.proximityThreshold + 5 ? PromixityEvent.ObjectDetected
+                        : 0;
+            }
             return 0
         }
 
         _update(prev: number, curr: number) {
-            for (let i = 0; i < buttons.length; ++i) {
-                let v = !!(curr & (1 << i))
-                buttons[i].update(v)
+            if (this.mode == IrSensorMode.RemoteControl) {
+                for (let i = 0; i < buttons.length; ++i) {
+                    let v = !!(curr & (1 << i))
+                    buttons[i]._update(v)
+                }
+            } else {
+                if (curr)
+                    control.raiseEvent(this._id, curr);
             }
         }
 
@@ -102,26 +174,47 @@ namespace input {
         setRemoteChannel(c: IrRemoteChannel) {
             c = Math.clamp(0, 3, c | 0)
             this.channel = c
-            this.setMode(IrSensorMode.RemoteControl)
+            this._setMode(IrSensorMode.RemoteControl)
         }
 
-        setMode(m: IrSensorMode) {
+        _setMode(m: IrSensorMode) {
             this._setMode(m)
         }
 
         /**
-         * Get the distance measured by the infrared sensor.
+         * Registers code to run when an object is getting near.
+         * @param handler the code to run when detected
+         */
+        //% help=input/infrared/on-object-near
+        //% block="on %sensor|object near"
+        //% blockId=infraredOnObjectNear
+        //% parts="infraredsensor"
+        //% blockNamespace=input
+        //% weight=100 blockGap=8
+        //% group="Infrared Sensor"
+        onObjectNear(handler: () => void) {
+            control.onEvent(this._id, PromixityEvent.ObjectNear, handler);
+            if (this.proximity() == PromixityEvent.ObjectNear)
+                control.runInBackground(handler);
+        }
+
+        setObjectNearThreshold(distance: number) {
+            this.proximityThreshold = Math.max(1, Math.min(95, distance));
+        }
+        
+        /**
+         * Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)
          * @param ir the infrared sensor
          */
-        //% help=input/infrared/distance
-        //% block="%infrared|distance"
-        //% blockId=infraredGetDistance
+        //% help=input/infrared/proximity
+        //% block="%infrared|proximity"
+        //% blockId=infraredGetProximity
         //% parts="infrared"
         //% blockNamespace=input
         //% weight=65 blockGap=8   
         //% group="Infrared Sensor"     
-        distance() {
-            this.setMode(IrSensorMode.Proximity)
+        proximity() {
+            this._setMode(IrSensorMode.Proximity)
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
 
@@ -137,56 +230,57 @@ namespace input {
         //% weight=65 blockGap=8        
         //% group="Infrared Sensor"     
         remoteCommand() {
-            this.setMode(IrSensorMode.RemoteControl)
+            this._setMode(IrSensorMode.RemoteControl)
             return this.getNumber(NumberFormat.UInt8LE, this.channel)
         }
 
         // TODO
         getDirectionAndDistance() {
-            this.setMode(IrSensorMode.Seek)
+            this._setMode(IrSensorMode.Seek)
             return this.getNumber(NumberFormat.UInt16LE, this.channel * 2)
         }
     }
 
-    //% whenUsed
-    export const ir1: IrSensor = new IrSensor(1)
+    //% fixedInstance whenUsed block="infrared sensor 1"
+    export const infraredSensor1: InfraredSensor = new InfraredSensor(1)
 
-    //% whenUsed
-    export const ir2: IrSensor = new IrSensor(2)
+    //% fixedInstance whenUsed block="infrared sensor 2"
+    export const infraredSensor2: InfraredSensor = new InfraredSensor(2)
 
-    //% whenUsed
-    export const ir3: IrSensor = new IrSensor(3)
+    //% fixedInstance whenUsed block="infrared sensor 3"
+    export const infraredSensor3: InfraredSensor = new InfraredSensor(3)
 
-    //% whenUsed
-    export const ir4: IrSensor = new IrSensor(4)
+    //% fixedInstance whenUsed block="infrared sensor 4"
+    export const infraredSensor4: InfraredSensor = new InfraredSensor(4)
 
-    /**
-     * Remote top-left button.
-     */
-    //% whenUsed block="remote top-left" weight=95 fixedInstance
-    export const remoteTopLeft = irButton(IrRemoteButton.TopLeft)
-
-    /**
-     * Remote top-right button.
-     */
-    //% whenUsed block="remote top-right" weight=95 fixedInstance
-    export const remoteTopRight = irButton(IrRemoteButton.TopRight)
-
-    /**
-     * Remote bottom-left button.
-     */
-    //% whenUsed block="remote bottom-left" weight=95 fixedInstance
-    export const remoteBottomLeft = irButton(IrRemoteButton.BottomLeft)
-
-    /**
-     * Remote bottom-right button.
-     */
-    //% whenUsed block="remote bottom-right" weight=95 fixedInstance
-    export const remoteBottomRight = irButton(IrRemoteButton.BottomRight)
 
     /**
      * Remote beacon (center) button.
      */
-    //% whenUsed block="remote center" weight=95 fixedInstance
-    export const remoteCenter = irButton(IrRemoteButton.CenterBeacon)
+    //% whenUsed block="remote button center" weight=95 fixedInstance
+    export const remoteButtonCenter = irButton(IrRemoteButton.CenterBeacon)
+    
+    /**
+     * Remote top-left button.
+     */
+    //% whenUsed block="remote button top-left" weight=95 fixedInstance
+    export const remoteButtonTopLeft = irButton(IrRemoteButton.TopLeft)
+
+    /**
+     * Remote top-right button.
+     */
+    //% whenUsed block="remote button top-right" weight=95 fixedInstance
+    export const remoteButtonTopRight = irButton(IrRemoteButton.TopRight)
+
+    /**
+     * Remote bottom-left button.
+     */
+    //% whenUsed block="remote button bottom-left" weight=95 fixedInstance
+    export const remoteButtonBottomLeft = irButton(IrRemoteButton.BottomLeft)
+
+    /**
+     * Remote bottom-right button.
+     */
+    //% whenUsed block="remote button bottom-right" weight=95 fixedInstance
+    export const remoteButtonBottomRight = irButton(IrRemoteButton.BottomRight)
 }

libs/core/ns.ts

@@ -1,5 +1,5 @@
 
 //% color="#B4009E" weight=98 icon="\uf192"
-//% groups='["Touch Sensor", "Gyro Sensor", "Color Sensor", "Ultrasonic Sensor", "Infrared Sensor", "Remote", "Brick"]'
+//% groups='["Brick", "Touch Sensor", "Color Sensor", "Ultrasonic Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
 namespace input {
 }

libs/core/output.ts

@@ -1,8 +1,13 @@
 enum Output {
+    //% block="A"
     A = 0x01,
+    //% block="B"
     B = 0x02,
+    //% block="C"
     C = 0x04,
+    //% block="D"
     D = 0x08,
+    //% block="All"
     ALL = 0x0f
 }
 
@@ -15,7 +20,6 @@ enum OutputType {
 namespace output {
     let pwmMM: MMap
     let motorMM: MMap
-    let currentSpeed: number[] = []
 
     const enum MotorDataOff {
         TachoCounts = 0, // int32
@@ -31,19 +35,13 @@ namespace output {
         if (!pwmMM) control.fail("no PWM file")
         motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
 
-        stop(Output.ALL)
-
-        currentSpeed[Output.A] = -1;
-        currentSpeed[Output.B] = -1;
-        currentSpeed[Output.C] = -1;
-        currentSpeed[Output.D] = -1;
-        currentSpeed[Output.ALL] = -1;
+        resetMotors()
 
         let buf = output.createBuffer(1)
         buf[0] = DAL.opProgramStart
         writePWM(buf)
     }
-
+    
     function writePWM(buf: Buffer): void {
         init()
         pwmMM.write(buf)
@@ -55,81 +53,117 @@ namespace output {
     }
 
     function mkCmd(out: Output, cmd: number, addSize: number) {
-        let b = createBuffer(2 + addSize)
+        const b = createBuffer(2 + addSize)
         b.setNumber(NumberFormat.UInt8LE, 0, cmd)
         b.setNumber(NumberFormat.UInt8LE, 1, out)
         return b
     }
 
-    /**
-     * Turn a motor on for a specified number of milliseconds.
-     * @param out the output connection that the motor is connected to
-     * @param ms the number of milliseconds to turn the motor on, eg: 500
-     * @param useBrake whether or not to use the brake, defaults to false
-     */
-    //% blockId=output_turn block="turn motor %out| on for %ms=timePicker|milliseconds"
-    //% weight=100 group="Motors"
-    export function turn(out: Output, ms: number, useBrake = false) {
-        // TODO: use current power / speed configuration
-        output.step(out, {
-            speed: 100,
-            step1: 0,
-            step2: ms,
-            step3: 0,
-            useSteps: false,
-            useBrake: useBrake
-        })
-    }
+    function resetMotors() {
+        reset(Output.ALL)
+    }    
 
-
-    /**
-     * Switch the motor on or off.
-     * @param out the output connection that the motor is connected to
-     * @param on 1 to turn the motor on, 0 to turn it off
-     */
-    //% blockId=outputMotorPowerOnOff block="power motor %out|%on"
-    //% weight=90 group="Motors"
-    //% on.fieldEditor="toggleonoff"
-    export function powerMotor(out: Output, on: boolean, useBrake = false) {
-        if (on) {
-            output.start(out);
-        } else {
-            output.stop(out, useBrake);
+    //% fixedInstances
+    export class Motor extends control.Component {
+        port: Output;
+        constructor(port: Output) {
+            super();
+            this.port = port;
         }
+
+        /**
+         * Power off the motor.
+         * @param motor the motor to turn off
+         */
+        //% blockId=outputMotorOf block="%motor|OFF then brake %brake"
+        //% brake.fieldEditor=toggleonoff
+        //% weight=100 group="Motors" blockGap=8
+        off(brake = false) {
+            const b = mkCmd(this.port, DAL.opOutputStop, 1)
+            b.setNumber(NumberFormat.UInt8LE, 2, brake ? 1 : 0)
+            writePWM(b)
+        }
+
+        /**
+         * Power on the motor.
+         * @param motor the motor to turn on
+         * @param power the motor power level from ``-100`` to ``100``, eg: 50
+         */
+        //% blockId=outputMotorOn block="%motor|ON at power %power"
+        //% power.min=-100 power.max=100 
+        //% weight=99 group="Motors" blockGap=8
+        on(power: number = 50) {
+            this.setPower(power);
+            const b = mkCmd(this.port, DAL.opOutputStart, 0)
+            writePWM(b);                
+        }
+
+        /**
+         * Power on the motor for a specified number of milliseconds.
+         * @param motor the motor to turn on
+         * @param power the motor power level from ``-100`` to ``100``, eg: 50
+         * @param ms the number of milliseconds to turn the motor on, eg: 500
+         * @param brake whether or not to use the brake
+         */
+        //% blockId=outputMotorOnForTime block="%motor|ON at power %power|for %ms=timePicker|ms then brake %brake"
+        //% power.min=-100 power.max=100 
+        //% brake.fieldEditor=toggleonoff
+        //% weight=98 group="Motors" blockGap=8
+        onForTime(power: number, ms: number, brake = false) {
+            step(this.port, {
+                power,
+                step1: 0,
+                step2: ms,
+                step3: 0,
+                useSteps: false,
+                useBrake: brake
+            })
+            loops.pause(ms);
+        }
+
+        /**
+         * Sets the motor power level from ``-100`` to ``100``.
+         * @param motor the output connection that the motor is connected to
+         * @param power the desired speed to use. eg: 50
+         */
+        //% blockId=motorSetPower block="%motor|set power to %speed"
+        //% weight=60 group="Motors"
+        //% speed.min=-100 speed.max=100
+        setPower(power: number) {
+            const b = mkCmd(this.port, DAL.opOutputPower, 1)
+            b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, power))
+            writePWM(b)
+        }
+
+        /**
+         * Gets motor actual speed.
+         * @param motor the port which connects to the motor
+         */
+        //% blockId=motorSpeed block="%motor|speed"
+        //% weight=50 group="Motors" blockGap=8
+        speed() {
+            return getMotorData(this.port).actualSpeed;
+        }        
     }
 
-    /**
-     * Turn motor off.
-     * @param out the output connection that the motor is connected to
-     */
-    //% blockId=output_stop block="turn motor %out|off"
-    //% weight=90 group="Motors"
-    //% deprecated=1
-    export function stop(out: Output, useBrake = false) {
-        let b = mkCmd(out, DAL.opOutputStop, 1)
-        b.setNumber(NumberFormat.UInt8LE, 2, useBrake ? 1 : 0)
-        writePWM(b)
-    }
+    //% whenUsed fixedInstance block="motor B"
+    export const motorB = new Motor(Output.B);
 
-    /**
-     * Turn motor on.
-     * @param out the output connection that the motor is connected to
-     */
-    //% blockId=output_start block="turn motor %out|on"
-    //% weight=95 group="Motors"
-    //% deprecated=1
-    export function start(out: Output) {
-        if (currentSpeed[out] == -1) setSpeed(out, 50)
-        let b = mkCmd(out, DAL.opOutputStart, 0)
-        writePWM(b)
-    }
+    //% whenUsed fixedInstance block="motor C"
+    export const motorC = new Motor(Output.C);
 
-    export function reset(out: Output) {
+    //% whenUsed fixedInstance block="motor A"
+    export const motorA = new Motor(Output.A);
+
+    //% whenUsed fixedInstance block="motor D"
+    export const motorD = new Motor(Output.D);
+
+    function reset(out: Output) {
         let b = mkCmd(out, DAL.opOutputReset, 0)
         writePWM(b)
     }
 
-    export function clearCount(out: Output) {
+    function clearCount(out: Output) {
         let b = mkCmd(out, DAL.opOutputClearCount, 0)
         writePWM(b)
         for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
@@ -147,14 +181,14 @@ namespace output {
         return 0
     }
 
-    export interface MotorData {
+    interface MotorData {
         actualSpeed: number; // -100..+100
         tachoCount: number;
         count: number;
     }
 
     // only a single output at a time
-    export function getMotorData(out: Output): MotorData {
+    function getMotorData(out: Output): MotorData {
         let buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
         return {
             actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),
@@ -163,52 +197,13 @@ namespace output {
         }
     }
 
-    /**
-     * Get motor speed.
-     * @param out the output connection that the motor is connected to
-     */
-    //% blockId=output_getCurrentSpeed block="motor %out|speed"
-    //% weight=70 group="Motors"
-    export function getCurrentSpeed(out: Output) {
-        return getMotorData(out).actualSpeed;
-    }
-
-    /**
-     * Set motor speed.
-     * @param out the output connection that the motor is connected to
-     * @param speed the desired speed to use. eg: 100
-     */
-    //% blockId=output_setSpeed block="set motor %out| speed to %speed"
-    //% weight=81 group="Motors"
-    //% speed.min=-100 speed.max=100
-    export function setSpeed(out: Output, speed: number) {
-        currentSpeed[out] = speed;
-        let b = mkCmd(out, DAL.opOutputSpeed, 1)
-        b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, speed))
-        writePWM(b)
-    }
-
-    /**
-     * Set motor power.
-     * @param out the output connection that the motor is connected to
-     * @param power the desired power to use. eg: 100
-     */
-    //% blockId=output_setPower block="set motor %out| power to %power"
-    //% weight=80 group="Motors"
-    //% power.min=-100 power.max=100
-    export function setPower(out: Output, power: number) {
-        let b = mkCmd(out, DAL.opOutputPower, 1)
-        b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-100, 100, power))
-        writePWM(b)
-    }
-
-    export function setPolarity(out: Output, polarity: number) {
+    function setPolarity(out: Output, polarity: number) {
         let b = mkCmd(out, DAL.opOutputPolarity, 1)
         b.setNumber(NumberFormat.Int8LE, 2, Math.clamp(-1, 1, polarity))
         writePWM(b)
     }
 
-    export interface StepOptions {
+    interface StepOptions {
         power?: number;
         speed?: number; // either speed or power has to be present
         step1: number;
@@ -218,7 +213,7 @@ namespace output {
         useBrake?: boolean;
     }
 
-    export function step(out: Output, opts: StepOptions) {
+    function step(out: Output, opts: StepOptions) {
         let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed
         let speed = opts.speed
         if (speed == null) {

libs/core/screen.ts

@@ -78,13 +78,21 @@ namespace screen {
         }
     }
 
-    export function setPixel(x: number, y: number, mode = Draw.Normal) {
+    /**
+     * Sets a pixel on or off
+     * @param on a value indicating if the pixel should be on or off
+     * @param x the starting position's x coordinate, eg: 0
+     * @param y the starting position's x coordinate, eg: 0
+     */
+    //% blockId=screen_setpixel block="set pixel %on| at x: %x| y: %y"
+    //% weight=98 group="Brick" blockNamespace=output
+    //% x.min=0 x.max=178 y.min=0 y.max=128 on.fieldEditor=toggleonoff
+    export function setPixel(on: boolean, x: number, y: number) {
         x |= 0
         y |= 0
         if (0 <= x && x < DAL.LCD_WIDTH && 0 <= y && y < DAL.LCD_HEIGHT)
-            _setPixel(x, y, mode)
+            _setPixel(x, y, on ? Draw.Normal : Draw.Clear)
     }
-    
 
     /**
      * Show text on the screen.

libs/core/test.ts

@@ -31,17 +31,17 @@ input.buttonUp.onEvent(ButtonEvent.Click, () => {
 
 let num = 0
 
-input.touchSensor1.onEvent(ButtonEvent.Click, () => {
+input.touchSensor1.onEvent(TouchSensorEvent.Bumped, () => {
     screen.print("Click!  " + num, 10, 60)
     num++
 })
 
-input.remoteTopLeft.onEvent(ButtonEvent.Click, () => {
+input.remoteButtonTopLeft.onEvent(ButtonEvent.Click, () => {
     screen.print("TOPLEFT " + num, 10, 60)
     num++
 })
 
-input.remoteTopRight.onEvent(ButtonEvent.Down, () => {
+input.remoteButtonTopRight.onEvent(ButtonEvent.Down, () => {
     screen.print("TOPRIGH " + num, 10, 60)
     num++
 })

libs/core/touch.ts

@@ -4,8 +4,8 @@
  * Touch sensor interactions
  */
 const enum TouchSensorEvent {
-    //% block="touched"
-    Touched = 4,
+    //% block="pressed"
+    Pressed = 4,
     //% block="bumped"
     Bumped = 1,
     //% block="released"
@@ -28,7 +28,7 @@ namespace input {
         }
 
         _update(prev: number, curr: number) {
-            this.button.update(curr > 0)
+            this.button._update(curr > 0)
         }
 
         _deviceType() {

libs/core/ultrasonic.ts

@@ -1,15 +1,58 @@
+const enum PromixityEvent {
+    //% block="object near"
+    ObjectNear = 1,
+    //% block="object detected"
+    ObjectDetected = 2
+}
+
 namespace input {
 
     //% fixedInstances
     export class UltraSonicSensor extends internal.UartSensor {
+        private promixityThreshold: number;
+
         constructor(port: number) {
             super(port)
+            this.promixityThreshold = 10;
         }
 
         _deviceType() {
             return DAL.DEVICE_TYPE_ULTRASONIC
         }
 
+        _query(): number {
+            const d = this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;            
+            return d < this.promixityThreshold ? PromixityEvent.ObjectNear
+                : d > this.promixityThreshold + 5 ? PromixityEvent.ObjectDetected
+                : 0;
+        }
+
+        _update(prev: number, curr: number) {
+            if (curr) 
+                control.raiseEvent(this._id, curr);
+        }
+
+        /**
+         * Registers code to run when the given color is close
+         * @param handler the code to run when detected
+         */
+        //% help=input/ultrasonic/on-object-near
+        //% block="on %sensor|object near"
+        //% blockId=ultrasonicOnObjectClose
+        //% parts="infraredsensor"
+        //% blockNamespace=input
+        //% weight=100 blockGap=8
+        //% group="Ultrasonic Sensor"
+        onObjectNear(distance: number, handler: () => void) {
+            control.onEvent(this._id, PromixityEvent.ObjectNear, handler);
+            if (this.distance() == PromixityEvent.ObjectNear)
+                control.runInBackground(handler);
+        }
+
+        setObjectNearThreshold(distance: number) {
+            this.promixityThreshold = Math.max(1, Math.min(250, distance));
+        }
+
         /**
          * Gets the distance from the sonar in millimeters
          * @param sensor the ultrasonic sensor port
@@ -24,7 +67,7 @@ namespace input {
         distance() {
             // it supposedly also has an inch mode, but we stick to mm
             this._setMode(0)
-            return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff
+            return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;
         }
     }
 

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.21",
+  "version": "0.0.25",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [

pxtarget.json

@@ -89,10 +89,6 @@
                 "name": "About",
                 "path": "/about"
             },
-            {
-                "name": "Examples",
-                "path": "#projects:Examples"
-            },
             {
                 "name": "Blocks",
                 "path": "/blocks"
@@ -110,12 +106,12 @@
                 "path": "https://www.lego.com/en-us/mindstorms/products/mindstorms-ev3-31313"
             }
         ],
-        "useStartPage": true,
+        "showHomeScreen": true,
+        "homeScreenHero": "./static/hero.png",
         "invertedMenu": false,
         "invertedMonaco": false,
         "monacoToolbox": true,
         "invertedToolbox": true,
-        "exampleGallery": "examples",
         "hasAudio": true,
         "usbHelp": [],
         "extendEditor": true,