0.0.27

Aligning categories with LabView/RobotC

.gitignore

@@ -31,3 +31,4 @@ videos/**
 lib/
 .vscode/
 bin
+scripts/out.*

docs/maker.md

@@ -0,0 +1,47 @@
+# Maker Activites
+
+These six activities require the LEGO® MINDSTORMS® Education EV3 Core Set (45544). Supporting materials for teachers and middle school students are provided, offering everything teachers and students need to explore their inner makers as they follow the design process to solve open-ended, themed challenges...
+
+* [Download Curriculum Materials](https://education.lego.com/en-us/downloads/mindstorms-ev3)
+
+## Activites
+
+```codecard
+[
+{
+  "name": "Sound Machine",
+  "description": "Create instruments with your EV3 Brick!",
+  "url":"/maker/sound-machine",
+  "cardType": "example",
+  "imageUrl": "/static/maker/sound-machine.png"
+},
+{
+  "name": "Sound Of Color",
+  "description": "Play different sounds based on the color",
+  "url":"/maker/sound-of-color",
+  "cardType": "example",
+  "imageUrl": "/static/maker/sound-of-color.png"
+},
+{
+  "name": "Security Gadget",
+  "description": "Raise the alarm when your brick is lifted!",
+  "url":"/maker/security-gadget",
+  "cardType": "example",
+  "imageUrl": "/static/maker/security-gadget.png"
+},
+{
+  "name": "Intruder Detector",
+  "description": "Raise the alarm when an intruder sneaks in",
+  "url":"/maker/intruder-detector",
+  "cardType": "example",
+  "imageUrl": "/static/maker/intruder-detector.png"
+},
+{
+  "name": "Puppet",
+  "description": "Build an automated puppet",
+  "url":"/maker/puppet",
+  "cardType": "example",
+  "imageUrl": "/static/maker/puppet.png"
+}
+]
+```

docs/maker/intruder-detector.md

@@ -0,0 +1,11 @@
+# Intruder Detector
+
+This program will activate an alarm when an object moves in front of the Ultrasonic Sensor.
+
+TODO support for event when value changes
+
+```blocks
+input.ultrasonic4.onObjectNear(function () {
+    music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
+})
+```

docs/maker/puppet.md

@@ -0,0 +1,17 @@
+# Puppet
+
+Use this program with the Programmable Brick and Large Motor.
+
+```blocks
+loops.forever(function () {
+    output.largeMotorA.setPower(30)
+    output.largeMotorA.on(true)
+    loops.pause(100)
+    output.largeMotorA.on(false)
+    music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
+    output.largeMotorA.setPower(-30)
+    output.largeMotorA.on(true)
+    loops.pause(100)
+    output.largeMotorA.on(false)
+})
+```

docs/maker/security-gadget.md

@@ -0,0 +1,9 @@
+# Security Gadget
+
+This program will activate an alarm when an object is lifted from the Touch Sensor.
+
+```blocks
+input.touchSensor1.onEvent(TouchSensorEvent.Released, function () {
+    music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
+})
+```

docs/maker/sound-machine.md

@@ -0,0 +1,12 @@
+# Sound Machine
+
+This example program combined with the small model will make a beat and rhythm on any surface when the program is run.
+
+```blocks
+loops.forever(function () {
+    output.motorA.on(50)
+    loops.pause(200)
+    output.motorA.on(100)
+    loops.pause(200)
+})
+``` 

docs/maker/sound-of-color.md

@@ -0,0 +1,15 @@
+# Sound Of Color
+
+This program will play different sounds when the wheel is rotated. The sound is determined by which color is placed in front of the color Sensor.
+
+```blocks
+input.color3.onColorDetected(ColorSensorColor.Blue, function () {
+    music.playTone(Note.G4, music.beat(BeatFraction.Half))
+})
+input.color3.onColorDetected(ColorSensorColor.Red, function () {
+    music.playTone(Note.C5, music.beat(BeatFraction.Half))
+})
+input.color3.onColorDetected(ColorSensorColor.Green, function () {
+    music.playTone(Note.D5, music.beat(BeatFraction.Half))
+})
+```

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

@@ -10,6 +10,28 @@
   "MMap.slice": "Read a range of bytes into a buffer.",
   "MMap.write": "Perform write(2) on the underlaying file",
   "TouchSensorEvent": "Touch sensor interactions",
+  "brick.Button": "Generic button class, for device buttons and sensors.",
+  "brick.Button.isPressed": "Check if button is currently pressed or not.",
+  "brick.Button.onEvent": "Do something when a button or sensor is clicked, up or down.",
+  "brick.Button.onEvent|param|body": "code to run when the event is raised",
+  "brick.Button.wasPressed": "See if the button was pressed again since the last time you checked.",
+  "brick.buttonDown": "Down button on the EV3 Brick.",
+  "brick.buttonEnter": "Enter button on the EV3 Brick.",
+  "brick.buttonLeft": "Left button on the EV3 Brick.",
+  "brick.buttonRight": "Right button on the EV3 Brick.",
+  "brick.buttonUp": "Up button on the EV3 Brick.",
+  "brick.pattern": "Pattern block.",
+  "brick.pattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
+  "brick.print": "Show text on the screen.",
+  "brick.print|param|text": "the text to print on the screen, eg: \"Hello world\"",
+  "brick.print|param|x": "the starting position's x coordinate, eg: 0",
+  "brick.print|param|y": "the starting position's x coordinate, eg: 0",
+  "brick.setPixel": "Sets a pixel on or off",
+  "brick.setPixel|param|on": "a value indicating if the pixel should be on or off",
+  "brick.setPixel|param|x": "the starting position's x coordinate, eg: 0",
+  "brick.setPixel|param|y": "the starting position's x coordinate, eg: 0",
+  "brick.setStatusLight": "Set lights.",
+  "brick.setStatusLight|param|pattern": "the lights pattern to use.",
   "control": "Program controls and events.",
   "control.allocateNotifyEvent": "Allocates the next user notification event",
   "control.deviceFirmwareVersion": "Determine the version of system software currently running.",
@@ -18,56 +40,50 @@
   "control.raiseEvent": "Announce that an event happened to registered handlers.",
   "control.raiseEvent|param|src": "ID of the Component that generated the event",
   "control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
-  "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|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.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.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.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.",
-  "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.",
+  "motors.Motor.clearCount": "Clears the motor count",
+  "motors.Motor.count": "Gets motor step count.",
+  "motors.Motor.on": "Power on or off the motor.",
+  "motors.Motor.reset": "Resets the motor.",
+  "motors.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
+  "motors.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",
+  "motors.Motor.setPower": "Sets the motor power level from ``-100`` to ``100``.",
+  "motors.Motor.setPower|param|power": "the desired speed to use. eg: 50",
+  "motors.Motor.setReversed": "Reverses the motor polarity",
+  "motors.Motor.speed": "Gets motor actual speed.",
+  "motors.Motor.tachoCount": "Gets motor tacho count.",
+  "motors.stopAllMotors": "Stops all motors",
   "output.createBuffer": "Create a new zero-initialized buffer.",
   "output.createBuffer|param|size": "number of bytes in the buffer",
-  "output.pattern": "Pattern block.",
-  "output.pattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
-  "output.setStatusLight": "Set lights.",
-  "output.setStatusLight|param|pattern": "the lights pattern to use.",
   "screen.clear": "Clear screen and reset font to normal.",
   "screen.doubleIcon": "Double size of an icon.",
   "screen.drawIcon": "Draw an icon on the screen.",
-  "screen.print": "Show text on the screen.",
-  "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",
+  "sensors.ColorSensor.ambientLight": "Get current ambient light value from the color sensor.",
+  "sensors.ColorSensor.color": "Get the current color from the color sensor.",
+  "sensors.ColorSensor.onColorDetected": "Registers code to run when the given color is detected",
+  "sensors.ColorSensor.onColorDetected|param|color": "the color to dtect",
+  "sensors.ColorSensor.onColorDetected|param|handler": "the code to run when detected",
+  "sensors.ColorSensor.reflectedLight": "Get current reflected light value from the color sensor.",
+  "sensors.GyroSensor.angle": "Get the current angle from the gyroscope.",
+  "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
+  "sensors.InfraredSensor.onObjectNear": "Registers code to run when an object is getting near.",
+  "sensors.InfraredSensor.onObjectNear|param|handler": "the code to run when detected",
+  "sensors.InfraredSensor.proximity": "Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)",
+  "sensors.InfraredSensor.remoteCommand": "Get the remote commandreceived the infrared sensor.",
+  "sensors.RemoteInfraredBeaconButton.isPressed": "Check if a remote button is currently pressed or not.",
+  "sensors.RemoteInfraredBeaconButton.onEvent": "Do something when a button or sensor is clicked, up or down",
+  "sensors.RemoteInfraredBeaconButton.onEvent|param|body": "code to run when the event is raised",
+  "sensors.RemoteInfraredBeaconButton.wasPressed": "See if the remote button was pressed again since the last time you checked.",
+  "sensors.TouchSensor.isTouched": "Check if touch sensor is touched.",
+  "sensors.TouchSensor.onEvent": "Do something when a touch sensor is touched...",
+  "sensors.TouchSensor.onEvent|param|body": "code to run when the event is raised",
+  "sensors.UltraSonicSensor.distance": "Gets the distance from the sonar in millimeters",
+  "sensors.UltraSonicSensor.onObjectNear": "Registers code to run when the given color is close",
+  "sensors.UltraSonicSensor.onObjectNear|param|handler": "the code to run when detected",
+  "sensors.remoteButtonBottomLeft": "Remote bottom-left button.",
+  "sensors.remoteButtonBottomRight": "Remote bottom-right button.",
+  "sensors.remoteButtonCenter": "Remote beacon (center) button.",
+  "sensors.remoteButtonTopLeft": "Remote top-left button.",
+  "sensors.remoteButtonTopRight": "Remote top-right button.",
   "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",
@@ -17,77 +25,104 @@
   "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",
+  "brick.Button.isPressed|block": "%button|is pressed",
+  "brick.Button.onEvent|block": "on %button|%event",
+  "brick.Button.wasPressed|block": "%button|was pressed",
+  "brick.buttonDown|block": "button down",
+  "brick.buttonEnter|block": "button enter",
+  "brick.buttonLeft|block": "button left",
+  "brick.buttonRight|block": "button right",
+  "brick.buttonUp|block": "button up",
+  "brick.pattern|block": "%pattern",
+  "brick.print|block": "print %text| at x: %x| y: %y",
+  "brick.setPixel|block": "set pixel %on| at x: %x| y: %y",
+  "brick.setStatusLight|block": "set status light %pattern=led_pattern",
+  "brick|block": "brick",
   "control.raiseEvent|block": "raise event|from %src|with value %value",
   "control|block": "control",
-  "input.Button.isPressed|block": "%button|is pressed",
-  "input.Button.onEvent|block": "on %button|%event",
-  "input.Button.wasPressed|block": "%button|was pressed",
-  "input.ColorSensor.ambientLight|block": "%color| ambient light",
-  "input.ColorSensor.color|block": "%color| 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.TouchSensor.isTouched|block": "%sensor|is touched",
-  "input.TouchSensor.onEvent|block": "on %sensor|%event",
-  "input.UltraSonicSensor.distance|block": "%sensor|distance",
-  "input.buttonDown|block": "brick button down",
-  "input.buttonEnter|block": "brick button enter",
-  "input.buttonLeft|block": "brick button left",
-  "input.buttonRight|block": "brick button right",
-  "input.buttonUp|block": "brick button up",
-  "input.color1|block": "color sensor 1",
-  "input.color2|block": "color sensor 2",
-  "input.color3|block": "color sensor 3",
-  "input.color4|block": "color sensor 4",
-  "input.gyro1|block": "gyro sensor 1",
-  "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.touchSensor1|block": "touch sensor 1",
-  "input.touchSensor2|block": "touch sensor 2",
-  "input.touchSensor3|block": "touch sensor 3",
-  "input.touchSensor4|block": "touch sensor 4",
-  "input.ultrasonic1|block": "ultrasonic sensor 1",
-  "input.ultrasonic2|block": "ultrasonic sensor 2",
-  "input.ultrasonic3|block": "ultrasonic sensor 3",
-  "input.ultrasonic4|block": "ultrasonic sensor 4",
-  "input|block": "input",
-  "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.setStatusLight|block": "set status light %pattern=led_pattern",
+  "motors.Motor.count|block": "%motor|count",
+  "motors.Motor.on|block": "%motor|%onOrOff",
+  "motors.Motor.setBrake|block": "%motor|set brake %brake",
+  "motors.Motor.setPower|block": "%motor|set power to %speed",
+  "motors.Motor.setReversed|block": "%motor|set reversed %reversed",
+  "motors.Motor.speed|block": "%motor|speed",
+  "motors.Motor.tachoCount|block": "%motor|tacho count",
+  "motors.largeMotorA|block": "large motor A",
+  "motors.largeMotorB|block": "large motor B",
+  "motors.largeMotorC|block": "large motor C",
+  "motors.largeMotorD|block": "large motor D",
+  "motors.mediumMotorA|block": "medium motor A",
+  "motors.mediumMotorB|block": "medium motor B",
+  "motors.mediumMotorC|block": "medium motor C",
+  "motors.mediumMotorD|block": "medium motor D",
+  "motors.stopAllMotors|block": "stop all motors",
+  "motors|block": "motors",
   "output|block": "output",
-  "screen.print|block": "print %text| at x: %x| y: %y",
   "screen|block": "screen",
+  "sensors.ColorSensor.ambientLight|block": "%color| ambient light",
+  "sensors.ColorSensor.color|block": "%color| color",
+  "sensors.ColorSensor.onColorDetected|block": "on %sensor|detected %color",
+  "sensors.ColorSensor.reflectedLight|block": "%color| reflected light",
+  "sensors.GyroSensor.angle|block": "%sensor|angle",
+  "sensors.GyroSensor.rate|block": "%sensor|rotation rate",
+  "sensors.InfraredSensor.onObjectNear|block": "on %sensor|object near",
+  "sensors.InfraredSensor.proximity|block": "%infrared|proximity",
+  "sensors.InfraredSensor.remoteCommand|block": "%infrared|remote command",
+  "sensors.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed",
+  "sensors.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event",
+  "sensors.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed",
+  "sensors.TouchSensor.isTouched|block": "%sensor|is touched",
+  "sensors.TouchSensor.onEvent|block": "on %sensor|%event",
+  "sensors.UltraSonicSensor.distance|block": "%sensor|distance",
+  "sensors.UltraSonicSensor.onObjectNear|block": "on %sensor|object near",
+  "sensors.color1|block": "color sensor 1",
+  "sensors.color2|block": "color sensor 2",
+  "sensors.color3|block": "color sensor 3",
+  "sensors.color4|block": "color sensor 4",
+  "sensors.gyro1|block": "gyro sensor 1",
+  "sensors.gyro2|block": "gyro sensor 2",
+  "sensors.gyro3|block": "gyro sensor 3",
+  "sensors.gyro4|block": "gyro sensor 4",
+  "sensors.infraredSensor1|block": "infrared sensor 1",
+  "sensors.infraredSensor2|block": "infrared sensor 2",
+  "sensors.infraredSensor3|block": "infrared sensor 3",
+  "sensors.infraredSensor4|block": "infrared sensor 4",
+  "sensors.remoteButtonBottomLeft|block": "remote button bottom-left",
+  "sensors.remoteButtonBottomRight|block": "remote button bottom-right",
+  "sensors.remoteButtonCenter|block": "remote button center",
+  "sensors.remoteButtonTopLeft|block": "remote button top-left",
+  "sensors.remoteButtonTopRight|block": "remote button top-right",
+  "sensors.touchSensor1|block": "touch sensor 1",
+  "sensors.touchSensor2|block": "touch sensor 2",
+  "sensors.touchSensor3|block": "touch sensor 3",
+  "sensors.touchSensor4|block": "touch sensor 4",
+  "sensors.ultrasonic1|block": "ultrasonic sensor 1",
+  "sensors.ultrasonic2|block": "ultrasonic sensor 2",
+  "sensors.ultrasonic3|block": "ultrasonic sensor 3",
+  "sensors.ultrasonic4|block": "ultrasonic sensor 4",
+  "sensors|block": "sensors",
   "serial|block": "serial",
+  "{id:category}Brick": "Brick",
   "{id:category}Control": "Control",
-  "{id:category}Input": "Input",
   "{id:category}MMap": "MMap",
+  "{id:category}Motors": "Motors",
   "{id:category}Output": "Output",
   "{id:category}Screen": "Screen",
+  "{id:category}Sensors": "Sensors",
   "{id:category}Serial": "Serial",
-  "{id:group}Brick": "Brick",
+  "{id:group}Buttons": "Buttons",
   "{id:group}Color Sensor": "Color Sensor",
   "{id:group}Gyro Sensor": "Gyro Sensor",
   "{id:group}Infrared Sensor": "Infrared Sensor",
+  "{id:group}Light": "Light",
   "{id:group}Motors": "Motors",
+  "{id:group}Remote Infrared Beacon": "Remote Infrared Beacon",
+  "{id:group}Screen": "Screen",
   "{id:group}Touch Sensor": "Touch Sensor",
   "{id:group}Ultrasonic Sensor": "Ultrasonic Sensor"
 }

libs/core/buttons.ts

@@ -47,7 +47,7 @@ const enum ButtonEvent {
     Down = 4,
 }
 
-namespace input {
+namespace brick {
     /**
      * Generic button class, for device buttons and sensors.
      */
@@ -65,7 +65,7 @@ namespace input {
         }
 
         //% hidden
-        update(curr: boolean) {
+        _update(curr: boolean) {
             if (this._isPressed == curr) return
             this._isPressed = curr
             if (curr) {
@@ -87,9 +87,9 @@ namespace input {
         //% block="%button|is pressed"
         //% blockId=buttonIsPressed
         //% parts="brick"
-        //% blockNamespace=input
+        //% blockNamespace=brick
         //% weight=81 blockGap=8
-        //% group="Brick"
+        //% group="Buttons"
         isPressed() {
             return this._isPressed
         }
@@ -102,9 +102,9 @@ namespace input {
         //% block="%button|was pressed"
         //% blockId=buttonWasPressed
         //% parts="brick"
-        //% blockNamespace=input
+        //% blockNamespace=brick
         //% weight=80 blockGap=8
-        //% group="Brick"
+        //% group="Buttons"
         wasPressed() {
             const r = this._wasPressed
             this._wasPressed = false
@@ -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
@@ -120,16 +120,16 @@ namespace input {
         //% help=input/button/on-event
         //% blockId=buttonEvent block="on %button|%event"
         //% parts="brick"
-        //% blockNamespace=input
+        //% blockNamespace=brick
         //% weight=99 blockGap=8
-        //% group="Brick"
+        //% group="Buttons"
         onEvent(ev: ButtonEvent, body: () => void) {
             control.onEvent(this._id, ev, body)
         }
     }
 }
 
-namespace input {
+namespace brick {
     let btnsMM: MMap
     let buttons: DevButton[]
 
@@ -155,11 +155,11 @@ namespace input {
         btnsMM = control.mmap("/dev/lms_ui", DAL.NUM_BUTTONS, 0)
         if (!btnsMM) control.fail("no buttons?")
         buttons = []
-        input.internal.unsafePollForChanges(50, readButtons, (prev, curr) => {
+        sensors.internal.unsafePollForChanges(50, readButtons, (prev, curr) => {
             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())
     }
@@ -180,31 +180,31 @@ namespace input {
     /**
      * Enter button on the EV3 Brick.
      */
-    //% whenUsed block="brick button enter" weight=95 fixedInstance
+    //% whenUsed block="button enter" weight=95 fixedInstance
     export const buttonEnter: Button = new DevButton(DAL.BUTTON_ID_ENTER)
 
     /**
      * Left button on the EV3 Brick.
      */
-    //% whenUsed block="brick button left" weight=95 fixedInstance
+    //% whenUsed block="button left" weight=95 fixedInstance
     export const buttonLeft: Button = new DevButton(DAL.BUTTON_ID_LEFT)
 
     /**
      * Right button on the EV3 Brick.
      */
-    //% whenUsed block="brick button right" weight=94 fixedInstance
+    //% whenUsed block="button right" weight=94 fixedInstance
     export const buttonRight: Button = new DevButton(DAL.BUTTON_ID_RIGHT)
 
     /**
      * Up button on the EV3 Brick.
      */
-    //% whenUsed block="brick button up" weight=95 fixedInstance
+    //% whenUsed block="button up" weight=95 fixedInstance
     export const buttonUp: Button = new DevButton(DAL.BUTTON_ID_UP)
 
     /**
      * Down button on the EV3 Brick.
      */
-    //% whenUsed block="brick button down" weight=95 fixedInstance
+    //% whenUsed block="button down" weight=95 fixedInstance
     export const buttonDown: Button = new DevButton(DAL.BUTTON_ID_DOWN)
 }
 
@@ -215,7 +215,7 @@ namespace control {
      */
     export function deviceFirmwareVersion(): string {
         let buf = output.createBuffer(6)
-        input.internal.getBtnsMM().read(buf)
+        brick.internal.getBtnsMM().read(buf)
         let r = ""
         for (let i = 0; i < buf.length; ++i) {
             let c = buf[i]
@@ -226,7 +226,7 @@ namespace control {
     }
 }
 
-namespace output {
+namespace brick {
     let currPattern: LightsPattern
 
     /**
@@ -234,14 +234,14 @@ namespace output {
      * @param pattern the lights pattern to use.
      */
     //% blockId=setLights block="set status light %pattern=led_pattern"
-    //% weight=100 group="Brick"
+    //% weight=100 group="Light"
     export function setStatusLight(pattern: number): void {
         if (currPattern === pattern)
             return
         currPattern = pattern
         let cmd = output.createBuffer(2)
         cmd[0] = pattern + 48
-        input.internal.getBtnsMM().write(cmd)
+        brick.internal.getBtnsMM().write(cmd)
     }
 
 
@@ -250,7 +250,7 @@ namespace output {
      * @param pattern the lights pattern to use. eg: LightsPattern.Green
      */
     //% blockId=led_pattern block="%pattern"
-    //% shim=TD_ID colorSecondary="#6e9a36"
+    //% shim=TD_ID colorSecondary="#6e9a36" group="Light"
     //% blockHidden=true useEnumVal=1 pattern.fieldOptions.decompileLiterals=1
     export function pattern(pattern: LightsPattern): number {
         return pattern;

libs/core/color.ts

@@ -9,17 +9,25 @@ 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,
 }
 
-namespace input {
+namespace sensors {
 
     //% fixedInstances
     export class ColorSensor extends internal.UartSensor {
@@ -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=sensors
+        //% 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
@@ -43,7 +80,7 @@ namespace input {
         //% block="%color| ambient light"
         //% blockId=colorGetAmbient
         //% parts="colorsensor"
-        //% blockNamespace=input
+        //% blockNamespace=sensors
         //% weight=65 blockGap=8
         //% group="Color Sensor"
         ambientLight() {
@@ -59,7 +96,7 @@ namespace input {
         //% block="%color| reflected light"
         //% blockId=colorGetReflected
         //% parts="colorsensor"
-        //% blockNamespace=input
+        //% blockNamespace=sensors
         //% weight=64 blockGap=8
         //% group="Color Sensor"
         reflectedLight(): number {
@@ -75,7 +112,7 @@ namespace input {
         //% block="%color| color"
         //% blockId=colorGetColor
         //% parts="colorsensor"
-        //% blockNamespace=input
+        //% blockNamespace=sensors
         //% weight=66 blockGap=8
         //% group="Color Sensor"
         color(): ColorSensorColor {

libs/core/gyro.ts

@@ -4,7 +4,7 @@ const enum GyroSensorMode {
     Rate = 1,
 }
 
-namespace input {
+namespace sensors {
     //% fixedInstances
     export class GyroSensor extends internal.UartSensor {
         constructor(port: number) {
@@ -27,7 +27,7 @@ namespace input {
         //% block="%sensor|angle"
         //% blockId=gyroGetAngle
         //% parts="gyroscope"
-        //% blockNamespace=input
+        //% blockNamespace=sensors
         //% weight=65 blockGap=8
         //% group="Gyro Sensor"
         angle() {
@@ -43,7 +43,7 @@ namespace input {
         //% block="%sensor|rotation rate"
         //% blockId=gyroGetRate
         //% parts="gyroscope"
-        //% blockNamespace=input
+        //% blockNamespace=sensors
         //% weight=65 blockGap=8        
         //% group="Gyro Sensor"
         rate() {

libs/core/input.ts

@@ -1,4 +1,4 @@
-namespace input.internal {
+namespace sensors.internal {
     //% shim=pxt::unsafePollForChanges
     export function unsafePollForChanges(
         periodMs: number,
@@ -119,7 +119,8 @@ namespace input.internal {
                 si.sensor = null
             }
             if (si.devType != DAL.DEVICE_TYPE_NONE) {
-                si.sensor = si.sensors.filter(s => s._deviceType() == si.devType)[0] || null
+                // TODO figure out compiler problem when '|| null' is added here!
+                si.sensor = si.sensors.filter(s => s._deviceType() == si.devType)[0]
                 if (si.sensor == null) {
                     control.dmesg(`sensor not found for type=${si.devType} at ${si.port}`)
                 } else {
@@ -139,6 +140,7 @@ namespace input.internal {
                 control.panic(120)
             this.port = port_ - 1
             init()
+            sensorInfos[this.port].sensors.push(this)
         }
 
         _activated() { }

libs/core/ir.ts

@@ -21,7 +21,7 @@ const enum IrRemoteButton {
     BottomRight = 0x10,
 }
 
-namespace input {
+namespace sensors {
     function mapButton(v: number) {
         switch (v) {
             case 0: return IrRemoteButton.None
@@ -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 brick.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: brick.Button;
+        constructor(button: brick.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=sensors
+        //% 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=sensors
+        //% 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=sensors
+        //% 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);
             }
         }
 
@@ -102,7 +174,7 @@ 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) {
@@ -110,18 +182,39 @@ namespace input {
         }
 
         /**
-         * 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=sensors
+        //% 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
+        //% blockNamespace=sensors
         //% weight=65 blockGap=8   
         //% group="Infrared Sensor"     
-        distance() {
-            this.setMode(IrSensorMode.Proximity)
+        proximity() {
+            this._setMode(IrSensorMode.Proximity)
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
 
@@ -133,60 +226,61 @@ namespace input {
         //% block="%infrared|remote command"
         //% blockId=infraredGetRemoteCommand
         //% parts="infrared"
-        //% blockNamespace=input
+        //% blockNamespace=sensors
         //% 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 +1,9 @@
+//% weight=100
+namespace brick {
+
+}
 
 //% color="#B4009E" weight=98 icon="\uf192"
-//% groups='["Touch Sensor", "Gyro Sensor", "Color Sensor", "Ultrasonic Sensor", "Infrared Sensor", "Remote", "Brick"]'
-namespace input {
+//% groups='["Touch Sensor", "Color Sensor", "Ultrasonic Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
+namespace sensors {
 }

libs/core/output.ts

@@ -17,7 +17,7 @@ enum OutputType {
     MiniTacho = 8,
 }
 
-namespace output {
+namespace motors {
     let pwmMM: MMap
     let motorMM: MMap
 
@@ -41,7 +41,7 @@ namespace output {
         buf[0] = DAL.opProgramStart
         writePWM(buf)
     }
-    
+
     function writePWM(buf: Buffer): void {
         init()
         pwmMM.write(buf)
@@ -53,7 +53,7 @@ namespace output {
     }
 
     function mkCmd(out: Output, cmd: number, addSize: number) {
-        const b = createBuffer(2 + addSize)
+        const b = output.createBuffer(2 + addSize)
         b.setNumber(NumberFormat.UInt8LE, 0, cmd)
         b.setNumber(NumberFormat.UInt8LE, 1, out)
         return b
@@ -61,64 +61,48 @@ namespace output {
 
     function resetMotors() {
         reset(Output.ALL)
-    }    
+    }
+
+    /**
+     * Stops all motors
+     */
+    //% blockId=motorStopAll block="stop all motors"
+    //% weight=10 group="Motors" blockGap=8
+    export function stopAllMotors() {
+        const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
+        writePWM(b)
+    }
 
     //% fixedInstances
     export class Motor extends control.Component {
-        port: Output;
-        constructor(port: Output) {
+        private port: Output;
+        private large: boolean;
+        private brake: boolean;
+
+        constructor(port: Output, large: boolean) {
             super();
             this.port = port;
+            this.large = large;
+            this.brake = false;
         }
 
         /**
-         * 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.
+         * Power on or off 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 
+        //% blockId=outputMotorOn block="%motor|%onOrOff"
+        //% onOrOff.fieldEditor=toggleonoff
         //% 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);
+        on(onOrOff: boolean = true) {
+            if (onOrOff) {
+                const b = mkCmd(this.port, DAL.opOutputStart, 0)
+                writePWM(b);
+            } else {
+                const b = mkCmd(this.port, DAL.opOutputStop, 1)
+                b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
+                writePWM(b)
+            }
         }
 
         /**
@@ -127,7 +111,7 @@ namespace output {
          * @param power the desired speed to use. eg: 50
          */
         //% blockId=motorSetPower block="%motor|set power to %speed"
-        //% weight=60 group="Motors"
+        //% weight=62 group="Motors" blockGap=8
         //% speed.min=-100 speed.max=100
         setPower(power: number) {
             const b = mkCmd(this.port, DAL.opOutputPower, 1)
@@ -135,44 +119,109 @@ namespace output {
             writePWM(b)
         }
 
+        /**
+         * Sets the automatic brake on or off when the motor is off
+         * @param brake a value indicating if the motor should break when off
+         */
+        //% blockId=outputMotorSetBrakeMode block="%motor|set brake %brake"
+        //% brake.fieldEditor=toggleonoff
+        //% weight=60 group="Motors" blockGap=8
+        setBrake(brake: boolean) {
+            this.brake = brake;
+        }
+
+        /** 
+         * Reverses the motor polarity
+        */
+        //% blockId=motorSetReversed block="%motor|set reversed %reversed"
+        //% reversed.fieldEditor=toggleonoff
+        //% weight=59 group="Motors"
+        setReversed(reversed: boolean) {
+            const b = mkCmd(this.port, DAL.opOutputPolarity, 1)
+            b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1);
+            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() {
+        speed(): number {
             return getMotorData(this.port).actualSpeed;
-        }        
+        }
+
+        /**
+         * Gets motor step count.
+         * @param motor the port which connects to the motor
+         */
+        //% blockId=motorCount block="%motor|count"
+        //% weight=49 group="Motors" blockGap=8
+        count(): number {
+            return getMotorData(this.port).count;
+        }
+
+        /**
+         * Gets motor tacho count.
+         * @param motor the port which connects to the motor
+         */
+        //% blockId=motorTachoCount block="%motor|tacho count"
+        //% weight=48 group="Motors"
+        tachoCount(): number {
+            return getMotorData(this.port).tachoCount;
+        }
+
+        /**
+         * Clears the motor count
+         */
+        clearCount() {
+            const b = mkCmd(this.port, DAL.opOutputClearCount, 0)
+            writePWM(b)
+            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                if (this.port & (1 << i)) {
+                    motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
+                }
+            }
+        }
+
+        /**
+         * Resets the motor.
+         */
+        reset() {
+            reset(this.port);
+        }
     }
 
-    //% whenUsed fixedInstance block="motor B"
-    export const motorB = new Motor(Output.B);
+    //% whenUsed fixedInstance block="large motor A"
+    export const largeMotorA = new Motor(Output.A, true);
 
-    //% whenUsed fixedInstance block="motor C"
-    export const motorC = new Motor(Output.C);
+    //% whenUsed fixedInstance block="large motor B"
+    export const largeMotorB = new Motor(Output.B, true);
 
-    //% whenUsed fixedInstance block="motor A"
-    export const motorA = new Motor(Output.A);
+    //% whenUsed fixedInstance block="large motor C"
+    export const largeMotorC = new Motor(Output.C, true);
 
-    //% whenUsed fixedInstance block="motor D"
-    export const motorD = new Motor(Output.D);
+    //% whenUsed fixedInstance block="large motor D"
+    export const largeMotorD = new Motor(Output.D, true);
+
+    //% whenUsed fixedInstance block="medium motor A"
+    export const mediumMotorA = new Motor(Output.A, false);
+
+    //% whenUsed fixedInstance block="medium motor B"
+    export const mediumMotorB = new Motor(Output.B, false);
+
+    //% whenUsed fixedInstance block="medium motor C"
+    export const mediumMotorC = new Motor(Output.C, false);
+
+    //% whenUsed fixedInstance block="medium motor D"
+    export const mediumMotorD = new Motor(Output.D, false);
 
     function reset(out: Output) {
         let b = mkCmd(out, DAL.opOutputReset, 0)
         writePWM(b)
     }
 
-    function clearCount(out: Output) {
-        let b = mkCmd(out, DAL.opOutputClearCount, 0)
-        writePWM(b)
-        for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
-            if (out & (1 << i)) {
-                motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
-            }
-        }
-    }
-
     function outOffset(out: Output) {
         for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
             if (out & (1 << i))
@@ -197,12 +246,6 @@ namespace output {
         }
     }
 
-    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)
-    }
-
     interface StepOptions {
         power?: number;
         speed?: number; // either speed or power has to be present

libs/core/screen.ts

@@ -1,4 +1,4 @@
-namespace screen {
+namespace brick {
     //% shim=screen::_setPixel
     function _setPixel(p0: uint32, p1: uint32, mode: Draw): void { }
 
@@ -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="Screen"
+    //% 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.
@@ -93,7 +101,7 @@ namespace screen {
      * @param y the starting position's x coordinate, eg: 0
      */
     //% blockId=screen_print block="print %text| at x: %x| y: %y"
-    //% weight=99 group="Brick" blockNamespace=output inlineInputMode="inline"
+    //% weight=99 group="Screen" inlineInputMode="inline" blockGap=8
     //% x.min=0 x.max=178 y.min=0 y.max=128
     export function print(text: string, x: number, y: number, mode = Draw.Normal) {
         x |= 0
@@ -119,7 +127,7 @@ namespace screen {
                 iconBuf.fill(0, 2)
             else
                 iconBuf.write(2, currFont.data.slice(idx, charSize))
-            drawIcon(x, y, iconBuf, mode)
+            screen.drawIcon(x, y, iconBuf, mode)
             x += double * currFont.charWidth
         }
     }

libs/core/test.ts

@@ -2,46 +2,46 @@ screen.clear()
 screen.print("PXT!", 10, 30, Draw.Quad)
 
 screen.drawRect(40, 40, 20, 10, Draw.Fill)
-output.setStatusLight(LightsPattern.Orange)
+motors.setStatusLight(LightsPattern.Orange)
 
 screen.drawIcon(100, 50, screen.doubleIcon(screen.heart), Draw.Double | Draw.Transparent)
 
-input.buttonEnter.onEvent(ButtonEvent.Click, () => {
+sensors.buttonEnter.onEvent(ButtonEvent.Click, () => {
     screen.clear()
 })
 
-input.buttonLeft.onEvent(ButtonEvent.Click, () => {
+sensors.buttonLeft.onEvent(ButtonEvent.Click, () => {
     screen.drawRect(10, 70, 20, 10, Draw.Fill)
-    output.setStatusLight(LightsPattern.Red)
+    motors.setStatusLight(LightsPattern.Red)
     screen.setFont(screen.microbitFont())
 })
 
-input.buttonRight.onEvent(ButtonEvent.Click, () => {
+sensors.buttonRight.onEvent(ButtonEvent.Click, () => {
     screen.print("Right!", 10, 60)
 })
 
-input.buttonDown.onEvent(ButtonEvent.Click, () => {
+sensors.buttonDown.onEvent(ButtonEvent.Click, () => {
     screen.print("Down! ", 10, 60)
 })
 
-input.buttonUp.onEvent(ButtonEvent.Click, () => {
+sensors.buttonUp.onEvent(ButtonEvent.Click, () => {
     screen.print("Up!  ", 10, 60)
 })
 
 
 let num = 0
 
-input.touchSensor1.onEvent(TouchSensorEvent.Bumped, () => {
+sensors.touchSensor1.onEvent(TouchSensorEvent.Bumped, () => {
     screen.print("Click!  " + num, 10, 60)
     num++
 })
 
-input.remoteTopLeft.onEvent(ButtonEvent.Click, () => {
+sensors.remoteButtonTopLeft.onEvent(ButtonEvent.Click, () => {
     screen.print("TOPLEFT " + num, 10, 60)
     num++
 })
 
-input.remoteTopRight.onEvent(ButtonEvent.Down, () => {
+sensors.remoteButtonTopRight.onEvent(ButtonEvent.Down, () => {
     screen.print("TOPRIGH " + num, 10, 60)
     num++
 })

libs/core/touch.ts

@@ -4,23 +4,23 @@
  * Touch sensor interactions
  */
 const enum TouchSensorEvent {
-    //% block="touched"
-    Touched = 4,
+    //% block="pressed"
+    Pressed = 4,
     //% block="bumped"
     Bumped = 1,
     //% block="released"
     Released = 3,
 }
 
-namespace input {
+namespace sensors {
 
     //% fixedInstances
     export class TouchSensor extends internal.AnalogSensor {
-        private button: Button;
+        private button: brick.Button;
 
         constructor(port: number) {
             super(port)
-            this.button = new Button();
+            this.button = new brick.Button();
         }
 
         _query() {
@@ -28,7 +28,7 @@ namespace input {
         }
 
         _update(prev: number, curr: number) {
-            this.button.update(curr > 0)
+            this.button._update(curr > 0)
         }
 
         _deviceType() {
@@ -43,7 +43,7 @@ namespace input {
         //% block="%sensor|is touched"
         //% blockId=touchIsTouched
         //% parts="touch"
-        //% blockNamespace=input
+        //% blockNamespace=sensors
         //% weight=81 blockGap=8
         //% group="Touch Sensor"
         isTouched() {
@@ -59,7 +59,7 @@ namespace input {
         //% help=input/touch/on-event
         //% blockId=touchEvent block="on %sensor|%event"
         //% parts="touch"
-        //% blockNamespace=input
+        //% blockNamespace=sensors
         //% weight=99 blockGap=8
         //% group="Touch Sensor"
         onEvent(ev: TouchSensorEvent, body: () => void) {

libs/core/ultrasonic.ts

@@ -1,15 +1,58 @@
-namespace input {
+const enum PromixityEvent {
+    //% block="object near"
+    ObjectNear = 1,
+    //% block="object detected"
+    ObjectDetected = 2
+}
+
+namespace sensors {
 
     //% 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=sensors
+        //% weight=100 blockGap=8
+        //% group="Ultrasonic Sensor"
+        onObjectNear(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
@@ -18,13 +61,13 @@ namespace input {
         //% block="%sensor|distance"
         //% blockId=sonarGetDistance
         //% parts="ultrasonic"
-        //% blockNamespace=input
+        //% blockNamespace=sensors
         //% weight=65 blockGap=8   
         //% group="Ultrasonic Sensor"     
         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;
         }
     }
 

libs/ev3/ns.ts

@@ -1,11 +1,16 @@
 
-//% color="#D42878"
-namespace input {
+//% color="#00A5C8" weight=100
+//% groups='["Light", "Buttons", "Screen"]'
+namespace brick {
 }
 
-//% color="#8AC044" weight=90 icon="\uf185"
-//% groups='["Motors", "Brick"]'
-namespace output {
+
+//% color="#8AC044" weight=95 icon="\uf185"
+namespace motors {
+}
+
+//% color="#D42878" weight=90
+namespace sensors {
 }
 
 //% color="#DF5014" weight=80

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.23",
+  "version": "0.0.27",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [
@@ -39,8 +39,8 @@
     "semantic-ui-less": "^2.2.4"
   },
   "dependencies": {
-    "pxt-common-packages": "0.11.7",
-    "pxt-core": "2.3.4"
+    "pxt-common-packages": "0.12.4",
+    "pxt-core": "2.3.5"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

pxtarget.json

@@ -100,10 +100,6 @@
             {
                 "name": "Reference",
                 "path": "/reference"
-            },
-            {
-                "name": "Buy",
-                "path": "https://www.lego.com/en-us/mindstorms/products/mindstorms-ev3-31313"
             }
         ],
         "showHomeScreen": true,

scripts/rgf2png.js

@@ -0,0 +1,157 @@
+#!/usr/bin/env node
+
+const fs = require("fs")
+const zlib = require("zlib")
+
+function compressImg(fn) {
+    const rgf = fs.readFileSync(fn)
+
+    const width = rgf[0]
+    const height = rgf[1]
+
+    const expSz = ((width + 7) >> 3) * height + 2
+
+    console.log(`w=${width} h=${height} sz=${rgf.length} exp=${expSz}`)
+
+    let crcTable
+
+    function crc32(buf) {
+        if (!crcTable) {
+            crcTable = []
+            for (let i = 0; i < 256; i++) {
+                let curr = i;
+                for (let j = 0; j < 8; j++) {
+                    if (curr & 1) {
+                        curr = 0xedb88320 ^ (curr >>> 1);
+                    } else {
+                        curr = curr >>> 1;
+                    }
+                }
+                crcTable[i] = curr
+            }
+        }
+
+        let crc = -1;
+        for (var i = 0; i < buf.length; i++) {
+            crc = crcTable[(crc ^ buf[i]) & 0xff] ^ (crc >>> 8);
+        }
+        return (crc ^ -1) >>> 0;
+    }
+
+
+    /*
+    Width	4 bytes
+    Height	4 bytes
+    Bit depth	1 byte
+    Colour type	1 byte
+    Compression method	1 byte
+    Filter method	1 byte
+    Interlace method	1 byte
+    */
+
+    const chunks = []
+
+    function addChunk(mark, addsize) {
+        const buf = Buffer.alloc(mark.length + addsize)
+        for (let i = 0; i < mark.length; ++i) {
+            buf[i] = mark.charCodeAt(i)
+        }
+        chunks.push(buf)
+        return buf
+    }
+
+    const hd = addChunk("IHDR", 4 + 4 + 5)
+    hd.writeInt32BE(width, 4)
+    hd.writeInt32BE(height, 8)
+    hd[12] = 1 // bit depth
+    hd[13] = 0 // color type - grayscale
+    hd[14] = 0 // compression - deflate
+    hd[15] = 0 // filter method
+    hd[16] = 0 // interlace method - no interlace
+
+    const scanlines = []
+    const scanlen = (width + 7) >> 3
+
+    let srcptr = 2
+    let srcmask = 0x01
+    for (let y = 0; y < height; ++y) {
+        const scan = Buffer.alloc(1 + scanlen)
+        scanlines.push(scan)
+        let dstptr = 1
+        let dstmask = 0x80
+        for (let x = 0; x < width; ++x) {
+            if (!(rgf[srcptr] & srcmask)) {
+                scan[dstptr] |= dstmask
+            }
+            dstmask >>= 1;
+            if (dstmask == 0) {
+                dstmask = 0x80
+                dstptr++
+            }
+            srcmask <<= 1;
+            if (srcmask > 0x80) {
+                srcmask = 0x01
+                srcptr++
+            }
+        }
+        if (srcmask != 0x01) {
+            srcmask = 0x01
+            srcptr++
+        }
+
+        if (false) {
+            // seems to increase file size
+            scan[0] = 1 // sub
+            let prev = 0
+            for (let i = 1; i < scan.length; ++i) {
+                let p = scan[i]
+                scan[i] = (p - prev) & 0xff
+                prev = p
+            }
+        }
+    }
+
+    const dat = zlib.deflateSync(Buffer.concat(scanlines), {
+        level: 9
+    })
+    const idat = addChunk("IDAT", dat.length)
+    dat.copy(idat, 4)
+    addChunk("IEND", 0)
+
+    const output = [new Buffer([137, 80, 78, 71, 13, 10, 26, 10])]
+
+    function intBuf(v) {
+        let b = new Buffer(4)
+        b.writeUInt32BE(v, 0)
+        return b
+    }
+    for (let ch of chunks) {
+        output.push(intBuf(ch.length - 4))
+        output.push(ch)
+        output.push(intBuf(crc32(ch)))
+    }
+
+    let outp = Buffer.concat(output)
+    return outp
+}
+
+let sz = 0
+let bf
+let out = {}
+for (let i = 2; i < process.argv.length; ++i) {
+    let fn = process.argv[i]
+    let m = /([^\/]+\/[^/]+)\.rgf$/.exec(fn)
+    let bn = m[1]
+    bf = compressImg(fn)
+    out[bn] = "data:image/png;base64," + bf.toString("base64")
+    sz += bf.length
+}
+
+console.log("total " + sz)
+fs.writeFileSync("out.json", JSON.stringify(out, null, 4))
+fs.writeFileSync("out.png", bf)
+
+//if (require("os").platform() == "darwin")
+//    require('child_process').execSync("afplay out.wav")
+
+// TODO also play on Windows

scripts/rsf2wav.js

@@ -0,0 +1,46 @@
+#!/usr/bin/env node
+
+const fs = require("fs")
+const rsf = fs.readFileSync(process.argv[2])
+
+const fmt = rsf.readInt16BE(0) // 0x0100
+if (fmt != 0x0100) {
+    throw new Error("Invalid input format: " + fmt)
+}
+const size = rsf.readInt16BE(2)
+const samplerate = rsf.readInt16BE(4)
+const repeat = rsf.readInt16BE(6)
+
+const datasize = rsf.length - 8
+
+const wavHd = new Buffer(44)
+
+function writeMark(off, mark) {
+    for (let i = 0; i < mark.length; ++i) {
+        wavHd[off + i] = mark.charCodeAt(i)
+    }
+}
+
+writeMark(0, 'RIFF')
+wavHd.writeInt32LE(datasize + 36, 4)
+writeMark(8, 'WAVE')
+writeMark(12, 'fmt ')
+wavHd.writeInt32LE(16, 16) // fmt size
+wavHd.writeInt16LE(1, 20) // PCM
+wavHd.writeInt16LE(1, 22) // mono, 1ch
+wavHd.writeInt32LE(samplerate, 24)
+wavHd.writeInt32LE(samplerate, 28) // byterate
+wavHd.writeInt16LE(1, 32) // block align
+wavHd.writeInt16LE(8, 34) // bits per sample
+writeMark(36, 'data')
+wavHd.writeInt32LE(datasize, 40)
+
+const wav = Buffer.concat([wavHd, rsf.slice(8)])
+
+console.log("writing out.wav; " + samplerate + "Hz")
+fs.writeFileSync("out.wav", wav)
+
+if (require("os").platform() == "darwin")
+    require('child_process').execSync("afplay out.wav")
+
+// TODO also play on Windows

targetconfig.json

@@ -6,5 +6,8 @@
         ],
         "approvedRepos": [
         ]
+    },
+    "galleries": {
+        "Maker Activities": "maker"
     }
 }