0.0.67

* handle registerion of dual / single motors

* updated puppy

README.md

@@ -4,6 +4,9 @@
 
 This repo contains the editor target hosted at https://d541eec2-1e96-4b7b-a223-da9d01d0337a.pxt.io/
 
+LEGO Auth: https://src.education.lego.com/groups/ev3-makecode (use Google Authenticator)
+LEGO Chat: https://chat.internal.education.lego.com/make-code/channels/town-square 
+
 ## Local Dev setup
 
 These instructions assume familiarity with dev tools and languages.
@@ -14,7 +17,7 @@ These instructions assume familiarity with dev tools and languages.
 
 In a common folder,
 
-* clone https://github.com/Microsoft/pxt to ``pxt`` folder (currently, build against `freshcoat` branch)
+* clone https://github.com/Microsoft/pxt to ``pxt`` folder
 * clone https://github.com/Microsoft/pxt-common-packages to ``pxt-common-packages`` folder
 * clone https://github.com/Microsoft/pxt-ev3 to ``pxt-ev3`` folder
 * go to ``pxt`` and run

cmds/cmds.ts

@@ -1,16 +1,11 @@
-/// <reference path="../node_modules/pxt-core/typings/globals/node/index.d.ts"/>
 /// <reference path="../node_modules/pxt-core/built/pxtlib.d.ts" />
 
 import * as fs from 'fs';
 
-require("./editor")
-
-declare namespace pxt.editor {
-    function deployCoreAsync(resp: pxtc.CompileResult, disconnect?: boolean): Promise<void>;
-}
+const deploy = require("./editor/deploy")
 
 export function deployCoreAsync(resp: pxtc.CompileResult) {
-    return pxt.editor.deployCoreAsync(resp, process.env["PXT_SERIAL"] ? false : true)
+    return deploy.deployCoreAsync(resp, process.env["PXT_SERIAL"] ? false : true)
         .then(() => {
             fs.writeFileSync("built/full-" + pxtc.BINARY_UF2, resp.outfiles[pxtc.BINARY_UF2], {
                 encoding: "base64"

cmds/pxtrequire.ts

@@ -1,4 +1,3 @@
-/// <reference path="../node_modules/pxt-core/typings/globals/node/index.d.ts"/>
 /// <reference path="../node_modules/pxt-core/built/pxtlib.d.ts" />
 
 import * as path from "path";

cmds/tsconfig.json

@@ -8,6 +8,7 @@
         "module": "commonjs",
         "rootDir": ".",
         "newLine": "LF",
-        "sourceMap": false
+        "sourceMap": false,
+        "types": ["node"]
     }
 }

docs/coding.md

@@ -0,0 +1,171 @@
+# Coding Activites
+
+12 computer science activities, with cross-curricular opportunities in design and technology, science, and math.
+
+* [Download Curriculum Materials](https://education.lego.com/en-us/downloads/mindstorms-ev3)
+
+## Three Point Turn
+
+```codecard
+[
+{
+  "name": "Three Point Turn 1",
+  "description": "Activity 1",
+  "url":"/coding/three-point-turn-1",
+  "cardType": "example"
+}, {
+  "name": "Three Point Turn 2",
+  "description": "Activity 2",
+  "url":"/coding/three-point-turn-2",
+  "cardType": "example"
+}, {
+  "name": "Three Point Turn 3",
+  "description": "Activity 3",
+  "url":"/coding/three-point-turn-3",
+  "cardType": "example"
+}]
+```
+
+## Reversing the robot
+
+```codecard
+[{
+  "name": "Reversing the robot 1",
+  "description": "Activity 1",
+  "url":"/coding/reversing-the-robot-1",
+  "cardType": "example"
+}, {
+  "name": "Reversing the robot 2",
+  "description": "Activity 2",
+  "url":"/coding/reversing-the-robot-2",
+  "cardType": "example"
+}, {
+  "name": "Reversing the robot 3",
+  "description": "Activity 3",
+  "url":"/coding/reversing-the-robot-3",
+  "cardType": "example"
+}]
+```
+
+## Light the way
+
+```codecard
+[{
+  "name": "Light the way 1",
+  "description": "Activity 1",
+  "url":"/coding/light-the-way-1",
+  "cardType": "example"
+}, {
+  "name": "Light the way 2",
+  "description": "Activity 2",
+  "url":"/coding/light-the-way-2",
+  "cardType": "example"
+}, {
+  "name": "Light the way 3",
+  "description": "Activity 3",
+  "url":"/coding/light-the-way-3",
+  "cardType": "example"
+}    
+]
+```
+
+## Traffic Lights
+
+```codecard
+[{
+  "name": "Traffic Lights 1",
+  "description": "Activity 1",
+  "url":"/coding/traffic-lights-1",
+  "cardType": "example"
+}, {
+  "name": "Traffic Lights 2",
+  "description": "Activity 2",
+  "url":"/coding/traffic-lights-2",
+  "cardType": "example"
+}, {
+  "name": "Traffic Lights 3",
+  "description": "Activity 3",
+  "url":"/coding/traffic-lights-3",
+  "cardType": "example"
+}
+]
+```
+
+## Reverse Bepper
+
+```codecard
+[{
+  "name": "Reverse Beeper 1",
+  "description": "Activity 1",
+  "url":"/coding/reverse-beeper-1",
+  "cardType": "example"
+}, {
+  "name": "Reverse Beeper 2",
+  "description": "Activity 2",
+  "url":"/coding/reverse-beeper-2",
+  "cardType": "example"
+}, {
+  "name": "Reverse Beeper 3",
+  "description": "Activity 3",
+  "url":"/coding/reverse-beeper-3",
+  "cardType": "example"
+}]
+```
+
+## Ignition
+
+```codecard
+[{
+  "name": "Ignition 1",
+  "description": "Activity 1",
+  "url":"/coding/ingition-1",
+  "cardType": "example"
+}, {
+  "name": "Ignition 2",
+  "description": "Activity 2",
+  "url":"/coding/ignition-2",
+  "cardType": "example"
+}, {
+  "name": "Ignition 3",
+  "description": "Activity 3",
+  "url":"/coding/ignition-3",
+  "cardType": "example"
+}]
+```
+
+## Cruise Control
+
+```codecard
+[{
+  "name": "Cruise Control 1",
+  "description": "Activity 1",
+  "url":"/coding/cruise-control-1",
+  "cardType": "example"
+}, {
+  "name": "Cruise Control 2",
+  "description": "Activity 2",
+  "url":"/coding/cruise-control-2",
+  "cardType": "example"
+}, {
+  "name": "Cruise Control 3",
+  "description": "Activity 3",
+  "url":"/coding/cruise-control-3",
+  "cardType": "example"
+}]
+```
+
+## Roaming
+
+```codecard
+[{
+  "name": "Roaming 1",
+  "description": "Activity 1",
+  "url":"/coding/roaming-1",
+  "cardType": "example"
+}, {
+  "name": "Roaming 2",
+  "description": "Activity 2",
+  "url":"/coding/roaming-2",
+  "cardType": "example"
+}]
+```

docs/coding/cruise-control-1.md

@@ -0,0 +1,10 @@
+# Cruise Control Activity 1
+
+```blocks
+let speed = 0;
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    if (speed < 100)
+        speed = speed + 10;
+    motors.largeBC.setSpeed(speed);
+}) 
+```

docs/coding/cruise-control-2.md

@@ -0,0 +1,15 @@
+# Cruise Control Activity 2
+
+```blocks
+let speed = 0;
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    if (speed < 100)
+        speed = speed + 10;
+    motors.largeBC.setSpeed(speed);
+}) 
+sensors.touch2.onEvent(TouchSensorEvent.Pressed, function () {
+    if (speed > -100)
+        speed = speed - 10;
+    motors.largeBC.setSpeed(speed);
+}) 
+```

docs/coding/cruise-control-3.md

@@ -0,0 +1,28 @@
+# Cruise Control Activity 3
+
+```blocks
+let speed = 0
+function decelerate() {
+    if (speed > -100) {
+        speed = speed - 10
+    }
+}
+function accelerate() {
+    if (speed < 100) {
+        speed = speed + 10
+    }
+}
+function update() {
+    brick.clearScreen()
+    brick.showString("speed: " + speed, 1)
+    motors.largeBC.setSpeed(speed)
+}
+sensors.touch2.onEvent(TouchSensorEvent.Pressed, function () {
+    accelerate()
+    update()
+})
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    decelerate()
+    update()
+})
+```

docs/coding/ignition-1.md

@@ -0,0 +1,11 @@
+# Ignition Activity 1
+
+```blocks
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    brick.showImage(images.eyesDizzy)
+})
+sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjectDetected, function () {
+    brick.showImage(images.eyesTiredMiddle)
+})
+brick.showImage(images.eyesSleeping)
+```

docs/coding/ignition-2.md

@@ -0,0 +1,12 @@
+# Ignition Activity 2
+
+```blocks
+while (true) {
+    if (sensors.touch1.wasPressed() &&
+        sensors.ultrasonic4.distance() < 10) {
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
+    }
+    loops.pause(1);
+}
+```

docs/coding/ignition-3.md

@@ -0,0 +1,13 @@
+# Ignition Activity 3
+
+```blocks
+while (true) {
+    if (sensors.ultrasonic4.distance() < 10 &&
+        sensors.touch1.wasPressed() &&
+        brick.buttonEnter.wasPressed()) {
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
+    }
+    loops.pause(1);
+}
+```

docs/coding/light-the-way-1.md

@@ -0,0 +1,9 @@
+# Light the way Activity 1
+
+```blocks
+sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Dark, function () {
+    brick.showImage(images.objectsLightOn)
+    loops.pause(5000)
+    brick.clearScreen()
+})
+```

docs/coding/light-the-way-2.md

@@ -0,0 +1,10 @@
+# Light the way Activity 2
+
+```blocks
+sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Bright, function () {
+    brick.clearScreen()
+})
+sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Dark, function () {
+    brick.showImage(images.objectsLightOn)
+})
+```

docs/coding/light-the-way-3.md

@@ -0,0 +1,13 @@
+# Light the way Activity 3
+
+```blocks
+sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Bright, function () {
+    brick.clearScreen()
+})
+sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Dark, function () {
+    brick.showImage(images.objectsLightOn)
+})
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    brick.showImage(images.objectsLightOn);
+})
+```

docs/coding/reverse-beeper-1.md

@@ -0,0 +1,11 @@
+# Reverse Beeper Activity 1
+
+```blocks
+loops.forever(function () {
+    music.playTone(440, sensors.ultrasonic4.distance());
+    loops.pause(50)
+})
+motors.largeBC.setSpeed(-20);
+sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
+motors.largeBC.stop();
+```

docs/coding/reverse-beeper-2.md

@@ -0,0 +1,13 @@
+# Reverse Beeper Activity 2
+
+```blocks
+loops.forever(function () {
+    if (motors.largeB.speed() != 0 && sensors.ultrasonic4.distance() < 20) {
+        music.playTone(440, sensors.ultrasonic4.distance());
+        loops.pause(50)
+    }
+})
+motors.largeBC.setSpeed(-20);
+sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
+motors.largeBC.stop();
+```

docs/coding/reverse-beeper-3.md

@@ -0,0 +1,20 @@
+# Reverse Beeper Activity 2
+
+```blocks
+let beep = false
+beep = true
+control.runInBackground(function () {
+    motors.largeBC.setSpeed(-20)
+    sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear)
+    motors.largeBC.stop()
+    beep = false
+})
+control.runInBackground(function () {
+    while (beep) {
+        if (sensors.ultrasonic4.distance() < 20) {
+            music.playTone(440, sensors.ultrasonic4.distance())
+            loops.pause(50)
+        }
+    }
+})
+```

docs/coding/reversing-the-robot-1.md

@@ -0,0 +1,14 @@
+# Reversing the robot Activity 1
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    motors.largeBC.setSpeed(50)
+    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+    motors.largeBC.setSpeed(0)
+    loops.pause(1000)
+    brick.setLight(LightsPattern.OrangeFlash)
+    motors.largeBC.setSpeed(-50)
+    loops.pause(2000)
+    motors.largeBC.setSpeed(0)
+})
+```

docs/coding/reversing-the-robot-2.md

@@ -0,0 +1,15 @@
+# Reversing the robot Activity 2
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+    motors.largeBC.setSpeed(50)
+    sensors.touchSensor2.pauseUntil(TouchSensorEvent.Pressed)
+    motors.largeBC.setSpeed(0)
+    loops.pause(1000)
+    brick.setLight(LightsPattern.OrangeFlash)
+    motors.largeBC.setSpeed(-50)
+    loops.pause(2000)
+    motors.largeBC.setSpeed(0)
+})
+```

docs/coding/reversing-the-robot-3.md

@@ -0,0 +1,19 @@
+# Reversing the robot Activity 3
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    brick.showImage(images.eyesSleeping)
+    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+    brick.showImage(images.eyesNeutral)
+    motors.largeBC.setSpeed(50)
+    sensors.touchSensor2.pauseUntil(TouchSensorEvent.Pressed)
+    brick.showImage(images.eyesTiredMiddle)
+    motors.largeBC.setSpeed(0)
+    loops.pause(1000)
+    brick.setLight(LightsPattern.OrangeFlash)
+    brick.showImage(images.eyesDizzy)
+    motors.largeBC.setSpeed(-50)
+    loops.pause(2000)
+    motors.largeBC.setSpeed(0)
+})
+```

docs/coding/roaming-1.md

@@ -0,0 +1,36 @@
+# Roaming Activity 1
+
+```blocks
+let drive: number[] = []
+brick.buttonLeft.onEvent(ButtonEvent.Click, function () {
+    drive.push(1)
+})
+brick.buttonRight.onEvent(ButtonEvent.Click, function () {
+    drive.push(3)
+})
+brick.buttonUp.onEvent(ButtonEvent.Click, function () {
+    drive.push(4)
+})
+brick.buttonDown.onEvent(ButtonEvent.Click, function () {
+    drive.push(5)
+})
+pauseUntil(() => drive.length >= 5)
+loops.pause(1000)
+music.playSoundEffectUntilDone(sounds.communicationGo)
+for (let d of drive) {
+    if (d == 1) {
+        motors.largeC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeC.pauseUntilReady()
+    } else if (d == 3) {
+        motors.largeB.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeB.pauseUntilReady()
+    } else if (d == 4) {
+        motors.largeBC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    } else {
+        motors.largeBC.setSpeedFor(-50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    }
+}
+music.playSoundEffectUntilDone(sounds.communicationGameOver)
+```

docs/coding/roaming-2.md

@@ -0,0 +1,40 @@
+# Roaming Activity 2
+
+```blocks
+let drive: number[] = []
+brick.buttonLeft.onEvent(ButtonEvent.Click, function () {
+    drive.push(1)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonRight.onEvent(ButtonEvent.Click, function () {
+    drive.push(3)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonUp.onEvent(ButtonEvent.Click, function () {
+    drive.push(4)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonDown.onEvent(ButtonEvent.Click, function () {
+    drive.push(5)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonEnter.pauseUntil(ButtonEvent.Click);
+loops.pause(1000)
+music.playSoundEffectUntilDone(sounds.communicationGo)
+for (let d of drive) {
+    if (d == 1) {
+        motors.largeC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeC.pauseUntilReady()
+    } else if (d == 3) {
+        motors.largeB.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeB.pauseUntilReady()
+    } else if (d == 4) {
+        motors.largeBC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    } else {
+        motors.largeBC.setSpeedFor(-50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    }
+}
+music.playSoundEffectUntilDone(sounds.communicationGameOver)
+```

docs/coding/three-point-turn-1.md

@@ -0,0 +1,12 @@
+# Three Point Turn Activity 1
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    motors.largeBC.tank(75, 30)
+    loops.pause(1500)
+    motors.largeBC.tank(-30, -75)
+    loops.pause(1000)
+    motors.largeBC.tank(50, 50)
+    loops.pause(3000)
+})
+```

docs/coding/three-point-turn-2.md

@@ -0,0 +1,14 @@
+# Three Point Turn Activity 2
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    motors.largeBC.tank(75, 30)
+    loops.pause(1500)
+    motors.largeBC.tank(-30, -75)
+    sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
+    motors.largeBC.tank(0, 0)
+    loops.pause(1000)
+    motors.largeBC.tank(50, 50)
+    loops.pause(3000)
+})
+```

docs/coding/three-point-turn-3.md

@@ -0,0 +1,15 @@
+# Three Point Turn Activity 3
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    motors.largeBC.tank(75, 30)
+    loops.pause(1500)
+    motors.largeBC.tank(-30, -75)
+    sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
+    motors.largeBC.tank(0, 0)
+    music.playSoundEffect(sounds.animalsDogBark1)
+    loops.pause(1000)
+    motors.largeBC.tank(50, 50)
+    loops.pause(3000)
+})
+```

docs/coding/traffic-lights-1.md

@@ -0,0 +1,9 @@
+# Traffic Lights Activity 1
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    motors.largeBC.tank(20, 20)
+    sensors.color3.pauseForColor(ColorSensorColor.Red)
+    motors.largeBC.tank(0, 0)
+})
+```

docs/coding/traffic-lights-2.md

@@ -0,0 +1,10 @@
+# Traffic Lights Activity 2
+
+```blocks
+sensors.color3.onColorDetected(ColorSensorColor.Red, function () {
+    motors.largeBC.tank(0, 0)  
+})
+sensors.color3.onColorDetected(ColorSensorColor.Green, function () {
+    motors.largeBC.tank(20, 20)
+})
+```

docs/coding/traffic-lights-3.md

@@ -0,0 +1,11 @@
+# Traffic Lights Activity 3
+
+```blocks
+loops.forever(function () {
+    if (sensors.color3.light(LightIntensityMode.Reflected) < 15) {
+        motors.largeBC.tank(30, 12)
+    } else {
+        motors.largeBC.tank(12, 30)
+    }
+})
+```

docs/examples.md

@@ -4,5 +4,12 @@ Here are some fun programs for your @boardname@!
 
 ## Fun stuff
 
-
-Coming soon.
+```codecard
+[
+{
+  "name": "Happy unhappy",
+  "description": "Keep your brick entertained and happy",
+  "url":"/examples/happy-unhappy",
+  "cardType": "example"
+}]
+```

docs/examples/core-set/gyroboy-labview.md

@@ -0,0 +1,215 @@
+# Gyroboy LabView
+
+```typescript
+let mSum = 0;
+let mPos = 0;
+let mSpd = 0;
+let mD = 0;
+let mDP1 = 0;
+let mDP2 = 0;
+let mDP3 = 0;
+let Crdv = 0;
+let cLo = 0;
+let gAng = 0;
+let ok = false;
+let pwr = 0;
+let Cstr = 0;
+let Cdrv = 0;
+let gMn = 0;
+let gMx = 0;
+let gSum = 0;
+let gyro = 0;
+let gOS = 0;
+let gSpd = 0;
+let tInt = 0.014;
+let lpwr = 0
+let rpwr = 0
+let tStart = 0
+let st = 0
+let oldDr = 0
+
+function RST() {
+    motors.largeA.reset()
+    motors.largeD.reset()
+    motors.largeA.setRegulated(false)
+    motors.largeD.setRegulated(false)
+    sensors.gyro2.reset()
+    sensors.gyro2.rate()
+    control.timer2.reset()
+    loops.pause(5000)
+    mSum = 0;
+    mPos = 0;
+    mD = 0;
+    mDP1 = 0;
+    mDP2 = 0;
+    mDP3 = 0;
+    Crdv = 0;
+    cLo = 0;
+    gAng = 0;
+    ok = false;
+    pwr = 0;
+    st = 0;
+    Cstr = 0;
+    Cdrv = 0;
+}
+
+function OS() {
+    // OSL
+    do {
+        gMn = 1000;
+        gMx = -100;
+        gSum = 0;
+        // gChk
+        for (let i = 0; i < 200; i++) {
+            gyro = sensors.gyro2.rate()
+            gSum = gyro;
+            gMx = Math.max(gMx, gyro)
+            gMn = Math.min(gMn, gyro)
+            loops.pause(4);
+        }
+    } while (gMx - gMn > 2);
+    gOS = gSum / 200;
+}
+
+function GT() {
+    if (cLo == 0) {
+        tInt = 0.014;
+        control.timer1.reset();
+    } else {
+        tInt = control.timer1.seconds() / cLo;
+    }
+    cLo++;
+}
+
+function GG() {
+    gyro = sensors.gyro2.rate();
+    gOS = 0.0005 * gyro + (1 - 0.0005) * gOS
+    gSpd = gyro - gOS;
+    gAng = gAng + tInt * gSpd;
+}
+
+function GM() {
+    let temp = mSum
+    mSum = motors.largeD.angle() + motors.largeA.angle();
+    mD = mSum - temp;
+    mPos = mPos + mD;
+    mSpd = ((mDP1 + mDP2 + mDP3 + mD) / 4) / tInt;
+    mDP3 = mDP2;
+    mDP2 = mDP1;
+    mDP1 = mD;
+}
+
+function EQ() {
+    mPos = mPos - Cdrv * tInt;
+    pwr = (0.8 * gSpd + 15 * gAng) + (0.08 * mSpd + 0.12 * mPos) - 0.01 * Cdrv
+    if (pwr > 100) pwr = 100
+    else if (pwr < -100) pwr = -100
+}
+
+function cntrl() {
+    mPos = mPos - tInt * Cdrv
+    lpwr = (pwr + Cstr * 0.1)
+    rpwr = (pwr - Cstr * 0.1)
+}
+
+function CHK() {
+    if (Math.abs(pwr) < 100)
+        control.timer2.reset();
+    if (control.timer2.seconds() > 2) {
+        ok = true;
+    }
+}
+
+// M
+loops.forever(function () {
+    RST();
+    brick.showImage(images.eyesSleeping)
+    OS()
+    gAng = -0.25;
+    music.playSoundEffect(sounds.movementsSpeedUp)
+    brick.showImage(images.eyesAwake)
+    st = 1;
+    // BALANCE
+    while (!ok) {
+        GT();
+        let t1 = control.timer1.millis()
+        GG();
+        GM();
+        EQ();
+        cntrl();
+        motors.largeA.setSpeed(lpwr)
+        motors.largeD.setSpeed(rpwr)
+        CHK()
+        let t2 = control.timer1.millis();
+        let p = 5 - (t2 - t1);
+        loops.pause(Math.max(1, p))
+    }
+    motors.stopAllMotors()
+    st = 0;
+    brick.setLight(BrickLight.RedPulse);
+    brick.showImage(images.eyesKnockedOut)
+    music.playSoundEffect(sounds.movementsSpeedDown)
+    sensors.touch3.pauseUntil(TouchSensorEvent.Pressed)
+    brick.setLight(BrickLight.Off);
+})
+
+// BHV
+loops.forever(function () {
+    switch (st) {
+        case 0:
+            Cdrv = 0;
+            Cstr = 0;
+            break;
+        case 1:
+            Cdrv = 40;
+            loops.pause(4000);
+            Cdrv = 0;
+            music.playTone(1000, 100);
+            st = 2;
+            break;
+        case 2:
+            switch (sensors.color1.color()) {
+                case ColorSensorColor.Red:
+                    music.playTone(2000, 100);
+                    Cdrv = 0;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Green:
+                    music.playTone(2000, 100);
+                    Cdrv = 150;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Blue:
+                    music.playTone(2000, 100);
+                    Cstr = 70;
+                    break;
+                case ColorSensorColor.Yellow:
+                    music.playTone(2000, 100);
+                    Cstr = -70;
+                    break;
+                case ColorSensorColor.White:
+                    music.playTone(2000, 100);
+                    Cdrv = -75;
+                    break;
+            }
+            if (sensors.ultrasonic4.distance() < 25) {
+                Cstr = 0;
+                oldDr = Cdrv;
+                Cdrv = -10;
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(-30, 60, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                if (Math.randomRange(-1, 1) >= 1)
+                    Cstr = 70;
+                else
+                    Cstr = -70;
+                loops.pause(4000);
+                music.playTone(2000, 100)
+                Cstr = 0;
+                Cdrv = oldDr;
+            }
+            break;
+    }
+    loops.pause(80);
+})
+```

docs/examples/core-set/puppy-labview.md

@@ -0,0 +1,390 @@
+# Puppy
+
+```typescript
+let P_T = 0;
+let ISS = 0;
+let F_T = 0;
+let P_C = 0;
+let F_C = 0;
+let DB_S = 0;
+let NS = false;
+let IBP = 0;
+let IAP = 0;
+let C = false;
+let TC = false;
+let OTC = false;
+let COL = 0;
+let OCOL = 0;
+let _C = false;
+let GTO = 0;
+
+function DN() {
+    motors.largeAD.setBrake(true);
+    motors.largeAD.tank(50, 50, 1, MoveUnit.Seconds);
+    loops.pause(100);
+    motors.largeA.clearCounts()
+    motors.largeD.clearCounts()
+}
+
+function MNRH() {
+    motors.mediumC.setBrake(true)
+    brick.showImage(images.legoEv3icon)
+    brick.setLight(BrickLight.OrangePulse)
+    while (!brick.buttonEnter.wasPressed()) {
+        if (brick.buttonUp.wasPressed()) {
+            motors.mediumC.setSpeed(-100);
+        } else if (brick.buttonDown.wasPressed()) {
+            motors.mediumC.setSpeed(100);
+        } else {
+            motors.mediumC.stop();
+        }
+    }
+    motors.mediumC.stop();
+    motors.mediumC.clearCounts();
+    brick.setLight(BrickLight.Green);
+}
+
+function IS(t: number) {
+    ISS = t;
+    switch (t) {
+        case 0:
+            brick.showImage(images.eyesNeutral);
+            break;
+        case 1:
+            brick.showImage(images.eyesSleeping);
+            break;
+        case 2:
+            brick.showImage(images.eyesTear);
+            // draw rect...
+            break;
+        case 3:
+            brick.showImage(images.eyesHurt);
+            break;
+        case 4:
+            brick.showImage(images.eyesAngry);
+            break;
+        case 5:
+            brick.showImage(images.eyesTiredMiddle);
+            break;
+        case 6:
+            brick.showImage(images.eyesTiredRight);
+            break;
+        case 7:
+            brick.showImage(images.eyesTiredLeft);
+            break;
+        case 8:
+            brick.showImage(images.eyesLove);
+            break;
+    }
+
+}
+
+function UP() {
+    if (motors.largeA.angle() > -50) {
+        control.runInBackground(function () {
+            motors.largeD.clearCounts()
+            motors.largeD.setSpeed(-35);
+            pauseUntil(() => motors.largeD.angle() < -25);
+            motors.largeD.stop();
+            motors.largeD.setRegulated(false)
+            motors.largeD.setSpeed(-15)
+            pauseUntil(() => motors.largeD.angle() < -65);
+            motors.largeD.stop();
+        })
+        motors.largeA.clearCounts()
+        motors.largeA.setSpeed(-35);
+        pauseUntil(() => motors.largeA.angle() < -25);
+        motors.largeA.stop();
+        motors.largeA.setRegulated(false)
+        motors.largeA.setSpeed(-15)
+        pauseUntil(() => motors.largeA.angle() < -65);
+        motors.largeA.stop();
+
+        loops.pause(500);
+    }
+}
+
+function RST() {
+    P_T = Math.randomRange(3, 6);
+    F_T = Math.randomRange(2, 4);
+    P_C = 1;
+    F_C = 1;
+    control.timer1.reset();
+    control.timer2.reset();
+    control.timer3.reset();
+    CS(0);
+}
+
+function CS(db: number) {
+    if (DB_S != db) {
+        DB_S = db;
+        NS = true;
+    }
+}
+
+function MON() {
+    if (control.timer2.seconds() > 10) {
+        control.timer2.reset();
+        P_C--;
+        if (P_C < 0) {
+            P_C = 0;
+        }
+    }
+    if (control.timer1.seconds() > 20) {
+        control.timer1.reset()
+        F_C--;
+        if (F_C < 0) {
+            F_C = 0;
+        }
+    }
+    if (control.timer3.seconds() > 30) {
+        control.timer3.reset();
+        CS(1);
+    }
+}
+
+function UIS() {
+    if (control.timer5.seconds() > IBP) {
+        control.timer5.reset();
+        if (ISS == 1) {
+            ISS = 6;
+            IBP = Math.randomRange(1, 5);
+        } else {
+            ISS = 1;
+            IBP = 0.25;
+        }
+        IS(ISS);
+    }
+    if (control.timer6.seconds() > IAP) {
+        if (ISS != 1) {
+            control.timer6.reset();
+            IAP = Math.randomRange(1, 10)
+            if (ISS != 7) {
+                ISS = 7
+            } else {
+                ISS = 6;
+            }
+            IS(ISS);
+        }
+    }
+}
+
+function UPDB() {
+    if ((P_T == P_C) && (F_T == F_C)) {
+        CS(6);
+    }
+    if ((P_T > P_C) && (F_T < F_C)) {
+        CS(3);
+    }
+    if ((P_T < P_C) && (F_T > F_C)) {
+        CS(5);
+    }
+    if ((P_C == 0) && (F_C > 0)) {
+        CS(2)
+    }
+    if (F_C == 0) {
+        CS(4)
+    }
+}
+
+function PTC() {
+    C = false;
+    OTC = TC;
+    TC = sensors.touch1.isPressed()
+    if (TC != OTC && TC) {
+        P_C++;
+        control.timer3.reset();
+        if (DB_S != 4) {
+            IS(2);
+            music.playSoundEffect(sounds.animalsDogSniff);
+            C = true;
+        }
+    }
+    return C;
+}
+
+function FDC() {
+    OCOL = COL;
+    COL = sensors.color4.color();
+    _C = false;
+    if ((COL != 0) && (OCOL != COL)) {
+        F_C++;
+        _C = true;
+        control.timer3.reset();
+        IS(2);
+        music.playSoundEffect(sounds.expressionsCrunching)
+    }
+    return _C;
+}
+
+function IDL() {
+    if (NS) {
+        NS = false;
+        UP();
+    }
+    UIS();
+    UPDB();
+    PTC();
+    FDC();
+}
+
+function MHT(Pos: number) {
+    let _R = Pos - motors.mediumC.angle();
+    if (_R >= 0) {
+        motors.mediumC.setSpeed(100, _R, MoveUnit.Degrees);
+    } else {
+        motors.mediumC.setSpeed(-100, Math.abs(_R), MoveUnit.Degrees);
+    }
+}
+
+function SLP() {
+    if (NS) {
+        NS = false;
+        IS(5)
+        DN()
+        MHT(3000)
+        IS(1)
+        music.playSoundEffect(sounds.expressionsSnoring)
+    }
+    if (sensors.touch1.isPressed() || brick.buttonEnter.isPressed()) {
+        music.stopAllSounds();
+        control.timer3.reset();
+        CS(7);
+    }
+}
+
+function PLF() {
+    if (NS) {
+        NS = false
+        IS(0)
+        UP()
+        music.playSoundEffect(sounds.animalsDogBark2)
+        control.timer4.reset()
+        GTO = Math.randomRange(4, 8);
+    }
+    if(PTC()) {
+        CS(0);
+    }
+    if (control.timer4.seconds() > GTO) {
+        music.playSoundEffect(sounds.animalsDogBark2)
+        control.timer4.reset();
+        GTO = Math.randomRange(4, 8);
+    }
+}
+
+function NGR() {
+    NS = false
+    IS(4)
+    music.playSoundEffect(sounds.animalsDogGrowl);
+    UP();
+    loops.pause(1500);
+    music.stopAllSounds()
+    music.playSoundEffect(sounds.animalsDogBark1)
+    P_C--;
+    CS(0);
+}
+
+function HNG() {
+    if (NS) {
+        NS = false;
+        IS(3)
+        DN();
+        music.playSoundEffect(sounds.animalsDogWhine);        
+    }
+    if(FDC()) {
+        CS(0)
+    }
+    if (PTC()) {
+        CS(3);
+    }
+}
+
+function PPP() {
+    NS = false;
+    IS(2);
+    UP();
+    loops.pause(100)
+    motors.largeA.setSpeed(-30, 70, MoveUnit.Degrees);
+    loops.pause(800);
+    music.playSoundEffect(sounds.mechanicalHorn1);
+    loops.pause(1000);
+    for(let i = 0; i < 3; ++i) {
+        motors.largeA.setSpeed(-30, 20, MoveUnit.Degrees);
+        motors.largeA.setSpeed(30, 20, MoveUnit.Degrees);
+    }
+    motors.largeA.setSpeed(30, 70, MoveUnit.Degrees);
+    F_C = 1;
+    CS(0);
+}
+
+function HPY() {
+    IS(8)
+    MHT(0);
+    motors.largeAD.setSpeed(10, 0.8, MoveUnit.Seconds);
+    for(let i = 0; i < 3; ++i) {
+        music.playSoundEffect(sounds.animalsDogBark1);
+        motors.largeAD.setSpeed(-100, 0.2, MoveUnit.Seconds);
+        loops.pause(300)
+        motors.largeAD.setSpeed(10, 0.3, MoveUnit.Seconds)
+    }
+    loops.pause(500);
+    music.stopAllSounds();
+    DN();
+    RST();
+}
+
+function STL() {
+    UP();
+    motors.largeAD.setSpeed(-20, 60, MoveUnit.Degrees);
+    music.playSoundEffect(sounds.animalsDogWhine);
+    motors.largeAD.setSpeed(20, 60, MoveUnit.Degrees);
+}
+
+function WKU() {
+    let stateC = false;
+    IS(5);
+    music.playSoundEffect(sounds.animalsDogWhine)
+    MHT(0)
+    DN()
+    STL()
+    loops.pause(1000);
+    UP()
+    CS(0;)
+}
+
+DN();
+MNRH();
+// compare button state???
+IS(1);
+UP();
+RST();
+loops.forever(function () {
+    MON();
+    switch (DB_S) {
+        case 0:
+            IDL();
+            break;
+        case 1:
+            SLP();
+            break;
+        case 2:
+            PLF();
+            break;
+        case 3:
+            NGR();
+            break;
+        case 4:
+            HNG();
+            break;
+        case 5:
+            PPP();
+            break;
+        case 6:
+            HPY();
+            break;
+        case 7:
+            WKU();
+            break;
+    }
+})
+```

docs/examples/core-set/robotarm-labview.md

@@ -0,0 +1,51 @@
+# Robot Arm
+
+```typescript
+function INI() {
+    motors.largeB.setBrake(true)
+    motors.largeC.setBrake(true)
+    motors.mediumA.setBrake(true)
+    motors.largeB.setSpeed(-50)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds);
+    motors.mediumA.setSpeed(-50, 90, MoveUnit.Degrees);
+    motors.largeC.setSpeed(50)
+    sensors.touch1.pauseUntil(TouchSensorEvent.Pressed);
+    motors.largeC.setSpeed(-50, 0.86, MoveUnit.Rotations);
+}
+
+INI()
+
+let down = false;
+loops.forever(function () {
+    brick.showImage(images.informationQuestionMark)
+    brick.setLight(BrickLight.OrangePulse);
+    pauseUntil(() => (down = brick.buttonDown.wasPressed()) || brick.buttonUp.wasPressed())
+    brick.setLight(BrickLight.Off)
+    music.playSoundEffect(sounds.mechanicalAirRelease)
+    brick.showImage(images.informationAccept)
+    if (down) {
+        brick.showImage(images.informationForward)
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    } else {
+        brick.showImage(images.informationBackward)
+        motors.largeC.setSpeed(-65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees)
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds)
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    if (down) {
+        motors.largeC.setSpeed(-65, 0.86, MoveUnit.Rotations);
+    } else {
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees);
+    motors.mediumA.setSpeed(-30, 90, MoveUnit.Degrees);
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop()
+})
+```

docs/examples/crane-labview.md

@@ -0,0 +1,51 @@
+# Crane LabView
+
+```blocks
+function INI() {
+    motors.largeB.setBrake(true)
+    motors.largeC.setBrake(true)
+    motors.mediumA.setBrake(true)
+    motors.largeB.setSpeed(-50)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds);
+    motors.mediumA.setSpeed(-50, 90, MoveUnit.Degrees);
+    motors.largeC.setSpeed(50)
+    sensors.touch1.pauseUntil(TouchSensorEvent.Pressed);
+    motors.largeC.setSpeed(-50, 0.86, MoveUnit.Rotations);
+}
+
+INI()
+
+let down = false;
+loops.forever(function () {
+    brick.showImage(images.informationQuestionMark)
+    brick.setLight(BrickLight.OrangePulse);
+    pauseUntil(() => (down = brick.buttonDown.wasPressed()) || brick.buttonUp.wasPressed())
+    brick.setLight(BrickLight.Off)
+    music.playSoundEffect(sounds.mechanicalAirRelease)
+    brick.showImage(images.informationAccept)
+    if (down) {
+        brick.showImage(images.informationForward)
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    } else {
+        brick.showImage(images.informationBackward)
+        motors.largeC.setSpeed(-65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees)
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds)
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    if (down) {
+        motors.largeC.setSpeed(-65, 0.86, MoveUnit.Rotations);
+    } else {
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees);
+    motors.mediumA.setSpeed(-30, 90, MoveUnit.Degrees);
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop()
+})
+```

docs/examples/gyro-boy-labview.md

@@ -0,0 +1,215 @@
+# Gyro Boy LabView
+
+```blocks
+let mSum = 0;
+let mPos = 0;
+let mSpd = 0;
+let mD = 0;
+let mDP1 = 0;
+let mDP2 = 0;
+let mDP3 = 0;
+let Crdv = 0;
+let cLo = 0;
+let gAng = 0;
+let ok = false;
+let pwr = 0;
+let Cstr = 0;
+let Cdrv = 0;
+let gMn = 0;
+let gMx = 0;
+let gSum = 0;
+let gyro = 0;
+let gOS = 0;
+let gSpd = 0;
+let tInt = 0.014;
+let lpwr = 0
+let rpwr = 0
+let tStart = 0
+let st = 0
+let oldDr = 0
+
+function RST() {
+    motors.largeA.reset()
+    motors.largeD.reset()
+    motors.largeA.setRegulated(false)
+    motors.largeD.setRegulated(false)
+    sensors.gyro2.reset()
+    sensors.gyro2.rate()
+    control.timer2.reset()
+    loops.pause(5000)
+    mSum = 0;
+    mPos = 0;
+    mD = 0;
+    mDP1 = 0;
+    mDP2 = 0;
+    mDP3 = 0;
+    Crdv = 0;
+    cLo = 0;
+    gAng = 0;
+    ok = false;
+    pwr = 0;
+    st = 0;
+    Cstr = 0;
+    Cdrv = 0;
+}
+
+function OS() {
+    // OSL
+    do {
+        gMn = 1000;
+        gMx = -100;
+        gSum = 0;
+        // gChk
+        for (let i = 0; i < 200; i++) {
+            gyro = sensors.gyro2.rate()
+            gSum = gyro;
+            gMx = Math.max(gMx, gyro)
+            gMn = Math.min(gMn, gyro)
+            loops.pause(4);
+        }
+    } while (gMx - gMn > 2);
+    gOS = gSum / 200;
+}
+
+function GT() {
+    if (cLo == 0) {
+        tInt = 0.014;
+        control.timer1.reset();
+    } else {
+        tInt = control.timer1.seconds() / cLo;
+    }
+    cLo++;
+}
+
+function GG() {
+    gyro = sensors.gyro2.rate();
+    gOS = 0.0005 * gyro + (1 - 0.0005) * gOS
+    gSpd = gyro - gOS;
+    gAng = gAng + tInt * gSpd;
+}
+
+function GM() {
+    let temp = mSum
+    mSum = motors.largeD.angle() + motors.largeA.angle();
+    mD = mSum - temp;
+    mPos = mPos + mD;
+    mSpd = ((mDP1 + mDP2 + mDP3 + mD) / 4) / tInt;
+    mDP3 = mDP2;
+    mDP2 = mDP1;
+    mDP1 = mD;
+}
+
+function EQ() {
+    mPos = mPos - Cdrv * tInt;
+    pwr = (0.8 * gSpd + 15 * gAng) + (0.095 * mSpd + 0.13 * mPos) - 0.01 * Cdrv
+    if (pwr > 100) pwr = 100
+    else if (pwr < -100) pwr = -100
+}
+
+function cntrl() {
+    mPos = mPos - tInt * Cdrv
+    lpwr = (pwr + Cstr * 0.1)
+    rpwr = (pwr - Cstr * 0.1)
+}
+
+function CHK() {
+    if (Math.abs(pwr) < 100)
+        control.timer2.reset();
+    if (control.timer2.seconds() > 2) {
+        ok = true;
+    }
+}
+
+// M
+loops.forever(function () {
+    RST();
+    brick.showImage(images.eyesSleeping)
+    OS()
+    gAng = -0.25;
+    music.playSoundEffect(sounds.movementsSpeedUp)
+    brick.showImage(images.eyesAwake)
+    st = 1;
+    // BALANCE
+    while (!ok) {
+        GT();
+        let t1 = control.timer1.millis()
+        GG();
+        GM();
+        EQ();
+        cntrl();
+        motors.largeA.setSpeed(lpwr)
+        motors.largeD.setSpeed(rpwr)
+        CHK()
+        let t2 = control.timer1.millis();
+        let p = 5 - (t2 - t1);
+        loops.pause(Math.max(1, p))
+    }
+    motors.stopAllMotors()
+    st = 0;
+    brick.setLight(BrickLight.RedPulse);
+    brick.showImage(images.eyesKnockedOut)
+    music.playSoundEffect(sounds.movementsSpeedDown)
+    sensors.touch3.pauseUntil(TouchSensorEvent.Pressed)
+    brick.setLight(BrickLight.Off);
+})
+
+// BHV
+loops.forever(function () {
+    switch (st) {
+        case 0:
+            Cdrv = 0;
+            Cstr = 0;
+            break;
+        case 1:
+            Cdrv = 40;
+            loops.pause(4000);
+            Cdrv = 0;
+            music.playTone(1000, 100);
+            st = 2;
+            break;
+        case 2:
+            switch (sensors.color1.color()) {
+                case ColorSensorColor.Red:
+                    music.playTone(2000, 100);
+                    Cdrv = 0;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Green:
+                    music.playTone(2000, 100);
+                    Cdrv = 150;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Blue:
+                    music.playTone(2000, 100);
+                    Cstr = 70;
+                    break;
+                case ColorSensorColor.Yellow:
+                    music.playTone(2000, 100);
+                    Cstr = -70;
+                    break;
+                case ColorSensorColor.White:
+                    music.playTone(2000, 100);
+                    Cdrv = -75;
+                    break;
+            }
+            if (sensors.ultrasonic4.distance() < 25) {
+                Cstr = 0;
+                oldDr = Cdrv;
+                Cdrv = -10;
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(-30, 60, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                if (Math.randomRange(-1, 1) >= 1)
+                    Cstr = 70;
+                else
+                    Cstr = -70;
+                loops.pause(4000);
+                music.playTone(2000, 100)
+                Cstr = 0;
+                Cdrv = oldDr;
+            }
+            break;
+    }
+    loops.pause(80);
+})
+```

docs/examples/happy-unhappy.md

@@ -0,0 +1,12 @@
+# Happy unhappy
+
+Use a touch sensor to make the brick happy.
+
+```blocks
+sensors.touchSensor1.onEvent(TouchSensorEvent.Pressed, function () {
+    brick.showImage(images.expressionsBigSmile)
+})
+sensors.touchSensor1.onEvent(TouchSensorEvent.Released, function () {
+    brick.showImage(images.expressionsSick)
+})
+```

docs/examples/line-follower-pid.md

@@ -0,0 +1,50 @@
+# Gradien follower PID + calibration
+
+```blocks
+let lasterror = 0
+let D = 0
+let I = 0
+let P = 0
+let error = 0
+let setpoint = 0
+let max = 0
+let min = 0
+let v = 0
+v = sensors.color3.light(LightIntensityMode.Reflected)
+min = v
+max = v
+setpoint = v
+while (!(brick.buttonEnter.wasPressed())) {
+    brick.clearScreen()
+    brick.showString("Move robot on terrain", 1)
+    brick.showString("Press ENTER when done", 2)
+    v = sensors.color3.light(LightIntensityMode.Reflected)
+    min = Math.min(min, v)
+    max = Math.max(max, v)
+    setpoint = (max + min) / 2
+    brick.showValue("v", v, 3)
+    brick.showValue("min", min, 4)
+    brick.showValue("max", v, 5)
+    brick.showValue("setpoint", setpoint, 6)
+    loops.pause(100)
+}
+loops.forever(function () {
+    brick.clearScreen()
+    v = sensors.color3.light(LightIntensityMode.Reflected)
+    brick.showValue("light", v, 1)
+    error = v - setpoint
+    brick.showValue("error", error, 2)
+    P = error * 5
+    brick.showValue("P", P, 3)
+    I = I + error * 0.01
+    brick.showValue("I", I, 4)
+    D = (error - lasterror) * 0.2
+    brick.showValue("D", D, 5)
+    motors.largeBC.steer(P + (I + D), 100)
+    lasterror = error
+    if (brick.buttonEnter.wasPressed()) {
+        motors.largeBC.setSpeed(0)
+        brick.buttonDown.pauseUntil(ButtonEvent.Click)
+    }
+})
+```

docs/reference.md

@@ -1,3 +1,8 @@
 # Reference
 
-TODO
+
+
+## See Also
+
+[touch sensor](/reference/sensors/touch-sensor),
+[color sensor](/reference/sensors/color-sensor)

docs/static/avatar.svg

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docs/static/fonts/icons/iconfont.css

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+@font-face {
+	font-family: "iconfont";
+	src: url("iconfont.eot?8b7e57577c2d1f1ae9e810b9e010bc84?#iefix") format("embedded-opentype"),
+url("iconfont.woff2?8b7e57577c2d1f1ae9e810b9e010bc84") format("woff2"),
+url("iconfont.woff?8b7e57577c2d1f1ae9e810b9e010bc84") format("woff");
+}
+
+.icon {
+	line-height: 1;
+}
+
+.icon:before {
+	font-family: iconfont !important;
+	font-style: normal;
+	font-weight: normal !important;
+	vertical-align: top;
+}
+
+.icon-ultrasonic:before {
+	content: "\f101";
+}
+.icon-color:before {
+	content: "\f102";
+}
+.icon-touch:before {
+	content: "\f103";
+}
+.icon-gyro:before {
+	content: "\f104";
+}
+.icon-addpackage:before {
+	content: "\f105";
+}
+.icon-brick:before {
+	content: "\f106";
+}
+.icon-controls:before {
+	content: "\f107";
+}
+.icon-functions:before {
+	content: "\f108";
+}
+.icon-list:before {
+	content: "\f109";
+}
+.icon-logic:before {
+	content: "\f10a";
+}
+.icon-loops:before {
+	content: "\f10b";
+}
+.icon-math:before {
+	content: "\f10c";
+}
+.icon-motors:before {
+	content: "\f10d";
+}
+.icon-music:before {
+	content: "\f10e";
+}
+.icon-sensors:before {
+	content: "\f10f";
+}
+.icon-text:before {
+	content: "\f110";
+}
+.icon-variables:before {
+	content: "\f111";
+}
+.icon-console:before {
+	content: "\f112";
+}
+.icon-advancedcollapsed:before {
+	content: "\f113";
+}
+.icon-advancedexpanded:before {
+	content: "\f114";
+}
+.icon-cancel:before {
+	content: "\f115";
+}
+.icon-check:before {
+	content: "\f116";
+}
+.icon-download:before {
+	content: "\f117";
+}
+.icon-save:before {
+	content: "\f118";
+}
+.icon-blocks:before {
+	content: "\f119";
+}

docs/static/fonts/icons/iconfont.svg

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+<?xml version="1.0" standalone="no"?> 
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd" >
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+      unicode="&#xF115;"
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+      unicode="&#xF116;"
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+      unicode="&#xF117;"
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+      unicode="&#xF118;"
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+      unicode="&#xF119;"
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+  </font>
+</defs>
+</svg>

docs/static/loader_back.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="301.499" height="179.742" viewBox="0 0 282.655 168.508"><g transform="translate(-41.005 -446.364)"><rect ry="30" rx="30" y="458.77" x="53.41" height="143.698" width="105.312" stroke="#000" stroke-width="17.724" stroke-linecap="round" stroke-linejoin="round"/><rect width="105.668" height="144.183" x="53.232" y="458.527" rx="30.101" ry="30.101" fill="#fff"/></g><g transform="translate(111.528 -446.364)"><rect width="105.312" height="143.698" x="53.41" y="458.77" rx="30" ry="30" stroke="#000" stroke-width="17.724" stroke-linecap="round" stroke-linejoin="round"/><rect ry="30.101" rx="30.101" y="458.527" x="53.232" height="144.183" width="105.668" fill="#fff"/></g></svg>

docs/static/loader_front.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="301.499" height="179.742" viewBox="0 0 282.655 168.508"><g stroke="#000" stroke-linecap="round" stroke-linejoin="round"><g transform="translate(124.66 -243.829)"><circle r="25.968" cy="356.872" cx="-38.891" fill="none"/><circle cx="-38.891" cy="356.872" r="21.013" stroke-width=".809"/><path d="M-30.581 341.741a13.835 13.835 0 0 1 5.76 4.504l-11.099 8.26z" fill="#fff" stroke-width=".533"/></g><g transform="translate(277.193 -243.829)"><circle cx="-38.891" cy="356.872" r="25.968" fill="none"/><circle r="21.013" cy="356.872" cx="-38.891" stroke-width=".809"/><path d="M-30.581 341.741a13.835 13.835 0 0 1 5.76 4.504l-11.099 8.26z" fill="#fff" stroke-width=".533"/></g></g></svg>

docs/static/loader_full.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="301.499" height="179.742" viewBox="0 0 282.655 168.508"><g transform="translate(-41.005 -446.364)"><rect ry="30" rx="30" y="458.77" x="53.41" height="143.698" width="105.312" stroke="#000" stroke-width="17.724" stroke-linecap="round" stroke-linejoin="round"/><rect width="105.668" height="144.183" x="53.232" y="458.527" rx="30.101" ry="30.101" fill="#fff"/></g><g transform="translate(124.66 -243.829)" stroke="#000" stroke-linecap="round" stroke-linejoin="round"><circle r="25.968" cy="356.872" cx="-38.891" fill="none"/><circle cx="-38.891" cy="356.872" r="21.013" stroke-width=".809"/><path d="M-30.581 341.741a13.835 13.835 0 0 1 5.76 4.504l-11.099 8.26z" fill="#fff" stroke-width=".533"/></g><g transform="translate(111.528 -446.364)"><rect width="105.312" height="143.698" x="53.41" y="458.77" rx="30" ry="30" stroke="#000" stroke-width="17.724" stroke-linecap="round" stroke-linejoin="round"/><rect ry="30.101" rx="30.101" y="458.527" x="53.232" height="144.183" width="105.668" fill="#fff"/></g><g transform="translate(277.193 -243.829)" stroke="#000" stroke-linecap="round" stroke-linejoin="round"><circle cx="-38.891" cy="356.872" r="25.968" fill="none"/><circle r="21.013" cy="356.872" cx="-38.891" stroke-width=".809"/><path d="M-30.581 341.741a13.835 13.835 0 0 1 5.76 4.504l-11.099 8.26z" fill="#fff" stroke-width=".533"/></g></svg>

editor/deploy.ts

@@ -0,0 +1,134 @@
+/// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+import UF2 = pxtc.UF2;
+
+export let ev3: pxt.editor.Ev3Wrapper
+
+export function debug() {
+    return initAsync()
+        .then(w => w.downloadFileAsync("/tmp/dmesg.txt", v => console.log(pxt.Util.uint8ArrayToString(v))))
+}
+
+function hf2Async() {
+    return pxt.HF2.mkPacketIOAsync()
+        .then(h => {
+            let w = new pxt.editor.Ev3Wrapper(h)
+            ev3 = w
+            return w.reconnectAsync(true)
+                .then(() => w)
+        })
+}
+
+let noHID = false
+
+let initPromise: Promise<pxt.editor.Ev3Wrapper>
+export function initAsync() {
+    if (initPromise)
+        return initPromise
+
+    let canHID = false
+    if (pxt.U.isNodeJS) {
+        // doesn't seem to work ATM
+        canHID = false
+    } else {
+        const forceHexDownload = /forceHexDownload/i.test(window.location.href);
+        if (pxt.Cloud.isLocalHost() && pxt.Cloud.localToken && !forceHexDownload)
+            canHID = true
+    }
+
+    if (noHID)
+        canHID = false
+
+    if (canHID) {
+        initPromise = hf2Async()
+            .catch(err => {
+                initPromise = null
+                noHID = true
+                return Promise.reject(err)
+            })
+    } else {
+        noHID = true
+        initPromise = Promise.reject(new Error("no HID"))
+    }
+
+    return initPromise
+}
+
+// this comes from aux/pxt.lms
+const rbfTemplate = `
+4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
+74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
+`
+export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
+    let w: pxt.editor.Ev3Wrapper
+
+    let filename = resp.downloadFileBaseName || "pxt"
+    filename = filename.replace(/^lego-/, "")
+
+    let fspath = "../prjs/BrkProg_SAVE/"
+
+    let elfPath = fspath + filename + ".elf"
+    let rbfPath = fspath + filename + ".rbf"
+
+    let rbfHex = rbfTemplate
+        .replace(/\s+/g, "")
+        .replace("XX", pxt.U.toHex(pxt.U.stringToUint8Array(elfPath)))
+    let rbfBIN = pxt.U.fromHex(rbfHex)
+    pxt.HF2.write16(rbfBIN, 4, rbfBIN.length)
+
+    let origElfUF2 = UF2.parseFile(pxt.U.stringToUint8Array(atob(resp.outfiles[pxt.outputName()])))
+
+    let mkFile = (ext: string, data: Uint8Array = null) => {
+        let f = UF2.newBlockFile()
+        f.filename = "Projects/" + filename + ext
+        if (data)
+            UF2.writeBytes(f, 0, data)
+        return f
+    }
+
+    let elfUF2 = mkFile(".elf")
+    for (let b of origElfUF2) {
+        UF2.writeBytes(elfUF2, b.targetAddr, b.data)
+    }
+
+    let r = UF2.concatFiles([elfUF2, mkFile(".rbf", rbfBIN)])
+    let data = UF2.serializeFile(r)
+
+    resp.outfiles[pxtc.BINARY_UF2] = btoa(data)
+
+    let saveUF2Async = () => {
+        if (isCli || !pxt.commands.saveOnlyAsync) {
+            return Promise.resolve()
+        } else {
+            return pxt.commands.saveOnlyAsync(resp)
+        }
+    }
+
+    if (noHID) return saveUF2Async()
+
+    return initAsync()
+        .then(w_ => {
+            w = w_
+            if (w.isStreaming)
+                pxt.U.userError("please stop the program first")
+            return w.stopAsync()
+        })
+        .then(() => w.rmAsync(elfPath))
+        .then(() => w.flashAsync(elfPath, UF2.readBytes(origElfUF2, 0, origElfUF2.length * 256)))
+        .then(() => w.flashAsync(rbfPath, rbfBIN))
+        .then(() => w.runAsync(rbfPath))
+        .then(() => {
+            if (isCli)
+                return w.disconnectAsync()
+            else
+                return Promise.resolve()
+            //return Promise.delay(1000).then(() => w.dmesgAsync())
+        }).catch(e => {
+            // if we failed to initalize, retry
+            if (noHID)
+                return saveUF2Async()
+            else
+                return Promise.reject(e)
+        })
+}

editor/extension.ts

@@ -1,144 +1,146 @@
 /// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
 
-// When require()d from node, bind the global pxt namespace
-namespace pxt {
-    export const dummyExport = 1;
-}
-eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")
+import { deployCoreAsync, initAsync } from "./deploy";
+import { FieldPorts } from "./field_ports";
+import { FieldImages } from "./field_images";
+import { FieldSpeed } from "./field_speed";
+import { FieldBrickButtons } from "./field_brickbuttons";
+import { FieldTurnRatio } from "./field_turnratio";
 
-namespace pxt.editor {
-    import UF2 = pxtc.UF2;
-
-    // this comes from aux/pxt.lms
-    const rbfTemplate = `
-4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
-74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
-`
-
-    function hf2Async() {
-        return pxt.HF2.mkPacketIOAsync()
-            .then(h => {
-                let w = new Ev3Wrapper(h)
-                return w.reconnectAsync(true)
-                    .then(() => w)
-            })
-    }
-
-    let noHID = false
-
-    let initPromise: Promise<Ev3Wrapper>
-    function initAsync() {
-        if (initPromise)
-            return initPromise
-
-        let canHID = false
-        if (U.isNodeJS) {
-            canHID = true
-        } else {
-            const forceHexDownload = /forceHexDownload/i.test(window.location.href);
-            if (Cloud.isLocalHost() && Cloud.localToken && !forceHexDownload)
-                canHID = true
-        }
-
-        if (noHID)
-            canHID = false
-
-        if (canHID) {
-            initPromise = hf2Async()
-                .catch(err => {
-                    initPromise = null
-                    noHID = true
-                    return Promise.reject(err)
-                })
-        } else {
-            noHID = true
-            initPromise = Promise.reject(new Error("no HID"))
-        }
-
-        return initPromise
-    }
-
-    export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
-        let w: Ev3Wrapper
-
-        let filename = resp.downloadFileBaseName || "pxt"
-        filename = filename.replace(/^lego-/, "")
-
-        let fspath = "../prjs/BrkProg_SAVE/"
-
-        let elfPath = fspath + filename + ".elf"
-        let rbfPath = fspath + filename + ".rbf"
-
-        let rbfHex = rbfTemplate
-            .replace(/\s+/g, "")
-            .replace("XX", U.toHex(U.stringToUint8Array(elfPath)))
-        let rbfBIN = U.fromHex(rbfHex)
-        HF2.write16(rbfBIN, 4, rbfBIN.length)
-
-        let origElfUF2 = UF2.parseFile(U.stringToUint8Array(atob(resp.outfiles[pxt.outputName()])))
-
-        let mkFile = (ext: string, data: Uint8Array = null) => {
-            let f = UF2.newBlockFile()
-            f.filename = "Projects/" + filename + ext
-            if (data)
-                UF2.writeBytes(f, 0, data)
-            return f
-        }
-
-        let elfUF2 = mkFile(".elf")
-        for (let b of origElfUF2) {
-            UF2.writeBytes(elfUF2, b.targetAddr, b.data)
-        }
-
-        let r = UF2.concatFiles([elfUF2, mkFile(".rbf", rbfBIN)])
-        let data = UF2.serializeFile(r)
-
-        resp.outfiles[pxtc.BINARY_UF2] = btoa(data)
-
-        let saveUF2Async = () => {
-            if (isCli || !pxt.commands.saveOnlyAsync) {
-                return Promise.resolve()
-            } else {
-                return pxt.commands.saveOnlyAsync(resp)
-            }
-        }
-
-        if (noHID) return saveUF2Async()
-
-        return initAsync()
-            .then(w_ => {
-                w = w_
-                if (w.isStreaming)
-                    U.userError("please stop the program first")
-                return w.stopAsync()
-            })
-            .then(() => w.rmAsync(elfPath))
-            .then(() => w.flashAsync(elfPath, UF2.readBytes(origElfUF2, 0, origElfUF2.length * 256)))
-            .then(() => w.flashAsync(rbfPath, rbfBIN))
-            .then(() => w.runAsync(rbfPath))
-            .then(() => {
-                if (isCli)
-                    return w.disconnectAsync()
-                else
-                    return Promise.resolve()
-                //return Promise.delay(1000).then(() => w.dmesgAsync())
-            }).catch(e => {
-                // if we failed to initalize, retry
-                if (noHID)
-                    return saveUF2Async()
-                else
-                    return Promise.reject(e)
-            })
-    }
-
-    initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
+pxt.editor.initExtensionsAsync = function(opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
     pxt.debug('loading pxt-ev3 target extensions...')
+    updateBlocklyShape();
     const res: pxt.editor.ExtensionResult = {
-            deployCoreAsync,
+        fieldEditors: [{
+            selector: "ports",
+            editor: FieldPorts
+        }, {
+            selector: "images",
+            editor: FieldImages
+        }, {
+            selector: "speed",
+            editor: FieldSpeed
+        }, {
+            selector: "brickbuttons",
+            editor: FieldBrickButtons
+        }, {
+            selector: "turnratio",
+            editor: FieldTurnRatio
+        }],
+        deployCoreAsync
     };
     initAsync().catch(e => {
         // probably no HID - we'll try this again upon deployment
     })
     return Promise.resolve<pxt.editor.ExtensionResult>(res);
 }
+
+/**
+ * Update the shape of Blockly blocks with square corners
+ */
+function updateBlocklyShape() {
+
+    /**
+     * Rounded corner radius.
+     * @const
+     */
+    (Blockly.BlockSvg as any).CORNER_RADIUS = 0 * (Blockly.BlockSvg as any).GRID_UNIT;
+
+    /**
+     * Inner space between edge of statement input and notch.
+     * @const
+     */
+    (Blockly.BlockSvg as any).STATEMENT_INPUT_INNER_SPACE = 3 * (Blockly.BlockSvg as any).GRID_UNIT;
+    /**
+     * SVG path for drawing next/previous notch from left to right.
+     * @const
+     */
+    (Blockly.BlockSvg as any).NOTCH_PATH_LEFT = (
+        'l 8,8 ' +
+        'h 16 ' +
+        'l 8,-8 '
+    );
+
+    /**
+     * SVG path for drawing next/previous notch from right to left.
+     * @const
+     */
+    (Blockly.BlockSvg as any).NOTCH_PATH_RIGHT = (
+        'l -8,8 ' +
+        'h -16 ' +
+        'l -8,-8 '
+    );
+
+    /**
+     * SVG start point for drawing the top-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_LEFT_CORNER_START =
+        'm 0,' + 0;
+
+    /**
+     * SVG path for drawing the rounded top-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_LEFT_CORNER =
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0 ';
+
+    /**
+     * SVG path for drawing the rounded top-right corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_RIGHT_CORNER =
+        'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS;
+
+    /**
+     * SVG path for drawing the rounded bottom-right corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).BOTTOM_RIGHT_CORNER =
+        'l 0,' + (Blockly.BlockSvg as any).CORNER_RADIUS;
+
+    /**
+     * SVG path for drawing the rounded bottom-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).BOTTOM_LEFT_CORNER =
+        'l -' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0';
+
+    /**
+     * SVG path for drawing the top-left corner of a statement input.
+     * @const
+     */
+    (Blockly.BlockSvg as any).INNER_TOP_LEFT_CORNER =
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',-' + 0;
+
+    /**
+     * SVG path for drawing the bottom-left corner of a statement input.
+     * Includes the rounded inside corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).INNER_BOTTOM_LEFT_CORNER =
+        'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS * 2 +
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',' + 0;
+
+    /**
+     * Corner radius of the flyout background.
+     * @type {number}
+     * @const
+     */
+    (Blockly as any).Flyout.prototype.CORNER_RADIUS = 0;
+
+    /**
+     * Margin around the edges of the blocks in the flyout.
+     * @type {number}
+     * @const
+     */
+    (Blockly as any).Flyout.prototype.MARGIN = 8;
+
 }
+
+// When require()d from node, bind the global pxt namespace
+// namespace pxt {
+//     export const dummyExport = 1;
+// }
+// eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")

editor/field_brickbuttons.ts

@@ -0,0 +1,159 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldPortsOptions extends Blockly.FieldCustomDropdownOptions {
+    columns?: string;
+    width?: string;
+}
+
+export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    // Width in pixels
+    private width_: number;
+
+    // Columns in grid
+    private columns_: number;
+
+    private savedPrimary_: string;
+
+    constructor(text: string, options: FieldPortsOptions, validator?: Function) {
+        super(options.data);
+
+        this.columns_ = parseInt(options.columns) || 4;
+        this.width_ = parseInt(options.width) || 150;
+    }
+
+    /**
+     * Create a dropdown menu under the text.
+     * @private
+     */
+    public showEditor_() {
+        // If there is an existing drop-down we own, this is a request to hide the drop-down.
+        if (Blockly.DropDownDiv.hideIfOwner(this)) {
+            return;
+        }
+        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
+        Blockly.DropDownDiv.hideWithoutAnimation();
+        Blockly.DropDownDiv.clearContent();
+        // Populate the drop-down with the icons for this field.
+        let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
+        let contentDiv = document.createElement('div');
+        // Accessibility properties
+        contentDiv.setAttribute('role', 'menu');
+        contentDiv.setAttribute('aria-haspopup', 'true');
+
+        const buttonsSVG = document.createElementNS("http://www.w3.org/2000/svg", "svg") as SVGGElement;
+        pxsim.svg.hydrate(buttonsSVG, {
+            viewBox: "0 0 256.68237 256.68237",
+            width: this.width_,
+            height: this.width_
+        });
+        contentDiv.appendChild(buttonsSVG);
+
+        const gWrapper = pxsim.svg.child(buttonsSVG, 'g', { 'transform': 'translate(-4.695057,58.29823)' });
+        const gInnerWrapper = pxsim.svg.child(gWrapper, 'g', { 'transform': 'translate(3.9780427e-6,-32.677281)' });
+
+        const back = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#6a6a6a;stroke-width:3.91719985',
+            d: 'M 106.30882,198.38022 C 84.431262,177.26258 50.453467,142.52878 50.453467,142.52878 v -7.12931 H 37.087971 a 32.381533,32.381533 0 1 1 0,-64.763062 H 50.457376 V 63.503186 L 105.71731,7.0563355 h 55.25604 c 25.02699,25.5048885 55.25994,55.2599395 55.25994,55.2599395 v 8.320133 h 12.77398 a 32.381533,32.381533 0 0 1 0,64.763062 h -12.77398 v 7.13323 c -29.43384,30.27603 -54.66454,55.85144 -54.66454,55.85144 z'
+        })
+
+        const buttonLeft = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'm 36.492567,78.357208 h 40.69971 V 126.48393 H 36.492567 A 24.063359,24.063359 0 0 1 12.429199,102.42057 v 0 A 24.063359,24.063359 0 0 1 36.492567,78.357208 Z'
+        })
+
+        const buttonRight = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'M 229.00727,126.48784 H 188.30756 V 78.361126 h 40.69971 a 24.063359,24.063359 0 0 1 24.06335,24.063354 v 0 a 24.063359,24.063359 0 0 1 -24.06335,24.06336 z'
+        })
+
+        const buttonEnter = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#3c3c3c;stroke-width:3.91719985',
+            d: 'm 109.27806,78.357208 h 46.9398 a 1.782326,1.782326 0 0 1 1.78233,1.782326 V 124.7016 a 1.782326,1.782326 0 0 1 -1.78233,1.78233 h -46.9398 a 1.782326,1.782326 0 0 1 -1.78233,-1.78233 V 80.139534 a 1.782326,1.782326 0 0 1 1.78233,-1.782326 z'
+        })
+
+        const buttonTop = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'm 108.09114,15.967966 49.90905,-0.59542 37.43276,38.619675 -15.44943,15.449437 V 97.367379 H 165.7249 V 81.306861 A 11.978797,11.978797 0 0 0 153.84012,69.422075 c -11.59883,-0.184102 -43.37516,0 -43.37516,0 A 9.6676495,9.6676495 0 0 0 100.36251,79.520618 V 97.347793 H 86.103905 V 69.422075 L 70.654464,53.97264 Z'
+        })
+
+        const buttonBottom = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'M 157.78865,189.01028 108.18908,189.38233 70.654464,150.794 86.323259,135.4895 v -28.08625 h 14.101921 v 16.11144 a 12.006218,12.006218 0 0 0 11.85346,11.9788 c 11.59882,0.1841 43.13227,0 43.13227,0 a 10.18472,10.18472 0 0 0 10.38059,-10.38058 v -17.70966 h 14.39179 v 28.08632 l 15.3045,15.3045 z'
+        })
+
+        const buttons = [buttonEnter, buttonLeft, buttonRight, buttonTop, buttonBottom];
+        const options = this.getOptions();
+        for (let i = 0, option: any; option = options[i]; i++) {
+            let content = (options[i] as any)[0]; // Human-readable text or image.
+            const value = (options[i] as any)[1]; // Language-neutral value.
+            const button = buttons[i];
+            button.setAttribute('id', ':' + i); // For aria-activedescendant
+            button.setAttribute('role', 'menuitem');
+            button.setAttribute('cursor', 'pointer');
+            const title = pxsim.svg.child(button, 'title');
+            title.textContent = content;
+
+            Blockly.bindEvent_(button, 'click', this, this.buttonClick_);
+            Blockly.bindEvent_(button, 'mouseup', this, this.buttonClick_);
+            // These are applied manually instead of using the :hover pseudoclass
+            // because Android has a bad long press "helper" menu and green highlight
+            // that we must prevent with ontouchstart preventDefault
+            Blockly.bindEvent_(button, 'mousedown', button, function (e) {
+                this.setAttribute('stroke', '#ffffff');
+                e.preventDefault();
+            });
+            Blockly.bindEvent_(button, 'mouseover', button, function () {
+                this.setAttribute('stroke', '#ffffff');
+            });
+            Blockly.bindEvent_(button, 'mouseout', button, function () {
+                this.setAttribute('stroke', 'transparent');
+            });
+
+            button.setAttribute('data-value', value);
+        }
+
+        contentDiv.style.width = this.width_ + 'px';
+        dropdownDiv.appendChild(contentDiv);
+
+        Blockly.DropDownDiv.setColour('#ffffff', '#dddddd');
+
+        // Calculate positioning based on the field position.
+        var scale = this.sourceBlock_.workspace.scale;
+        var bBox = { width: this.size_.width, height: this.size_.height };
+        bBox.width *= scale;
+        bBox.height *= scale;
+        var position = this.fieldGroup_.getBoundingClientRect();
+        var primaryX = position.left + bBox.width / 2;
+        var primaryY = position.top + bBox.height;
+        var secondaryX = primaryX;
+        var secondaryY = position.top;
+        // Set bounds to workspace; show the drop-down.
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
+            this.onHide_.bind(this));
+    }
+
+    /**
+     * Callback for when a button is clicked inside the drop-down.
+     * Should be bound to the FieldIconMenu.
+     * @param {Event} e DOM event for the click/touch
+     * @private
+     */
+    private buttonClick_ = function (e: any) {
+        let value = e.target.getAttribute('data-value');
+        this.setValue(value);
+        Blockly.DropDownDiv.hide();
+    };
+
+    /**
+     * Callback for when the drop-down is hidden.
+     */
+    private onHide_ = function () {
+        Blockly.DropDownDiv.content_.removeAttribute('role');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
+    };
+}

editor/field_images.ts

@@ -0,0 +1,114 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtblocks.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldImagesOptions extends pxtblockly.FieldImageDropdownOptions {
+}
+
+export class FieldImages extends pxtblockly.FieldImageDropdown implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    constructor(text: string, options: FieldImagesOptions, validator?: Function) {
+        super(text, options, validator);
+    }
+
+    /**
+     * Create a dropdown menu under the text.
+     * @private
+     */
+    public showEditor_() {
+        // If there is an existing drop-down we own, this is a request to hide the drop-down.
+        if (Blockly.DropDownDiv.hideIfOwner(this)) {
+            return;
+        }
+        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
+        Blockly.DropDownDiv.hideWithoutAnimation();
+        Blockly.DropDownDiv.clearContent();
+        // Populate the drop-down with the icons for this field.
+        let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
+        let contentDiv = document.createElement('div');
+        // Accessibility properties
+        contentDiv.setAttribute('role', 'menu');
+        contentDiv.setAttribute('aria-haspopup', 'true');
+        const options = this.getOptions();
+        for (let i = 0, option: any; option = options[i]; i++) {
+            let content = (options[i] as any)[0]; // Human-readable text or image.
+            const value = (options[i] as any)[1]; // Language-neutral value.
+            // Icons with the type property placeholder take up space but don't have any functionality
+            // Use for special-case layouts
+            if (content.type == 'placeholder') {
+                let placeholder = document.createElement('span');
+                placeholder.setAttribute('class', 'blocklyDropDownPlaceholder');
+                placeholder.style.width = content.width + 'px';
+                placeholder.style.height = content.height + 'px';
+                contentDiv.appendChild(placeholder);
+                continue;
+            }
+            let button = document.createElement('button');
+            button.setAttribute('id', ':' + i); // For aria-activedescendant
+            button.setAttribute('role', 'menuitem');
+            button.setAttribute('class', 'blocklyDropDownButton');
+            button.title = content.alt;
+            if ((this as any).columns_) {
+                button.style.width = (((this as any).width_ / (this as any).columns_) - 8) + 'px';
+                //button.style.height = ((this.width_ / this.columns_) - 8) + 'px';
+            } else {
+                button.style.width = content.width + 'px';
+                button.style.height = content.height + 'px';
+            }
+            let backgroundColor = this.sourceBlock_.getColour();
+            if (value == this.getValue()) {
+                // This icon is selected, show it in a different colour
+                backgroundColor = this.sourceBlock_.getColourTertiary();
+                button.setAttribute('aria-selected', 'true');
+            }
+            button.style.backgroundColor = backgroundColor;
+            button.style.borderColor = this.sourceBlock_.getColourTertiary();
+            Blockly.bindEvent_(button, 'click', this, (this as any).buttonClick_);
+            Blockly.bindEvent_(button, 'mouseup', this, (this as any).buttonClick_);
+            // These are applied manually instead of using the :hover pseudoclass
+            // because Android has a bad long press "helper" menu and green highlight
+            // that we must prevent with ontouchstart preventDefault
+            Blockly.bindEvent_(button, 'mousedown', button, function (e) {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                e.preventDefault();
+            });
+            Blockly.bindEvent_(button, 'mouseover', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                contentDiv.setAttribute('aria-activedescendant', this.id);
+            });
+            Blockly.bindEvent_(button, 'mouseout', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton');
+                contentDiv.removeAttribute('aria-activedescendant');
+            });
+            let buttonImg = document.createElement('img');
+            buttonImg.src = content.src;
+            //buttonImg.alt = icon.alt;
+            // Upon click/touch, we will be able to get the clicked element as e.target
+            // Store a data attribute on all possible click targets so we can match it to the icon.
+            button.setAttribute('data-value', value);
+            buttonImg.setAttribute('data-value', value);
+            button.appendChild(buttonImg);
+            contentDiv.appendChild(button);
+        }
+        contentDiv.style.width = (this as any).width_ + 'px';
+        dropdownDiv.appendChild(contentDiv);
+
+        Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
+
+        // Calculate positioning based on the field position.
+        var scale = this.sourceBlock_.workspace.scale;
+        var bBox = { width: this.size_.width, height: this.size_.height };
+        bBox.width *= scale;
+        bBox.height *= scale;
+        var position = this.fieldGroup_.getBoundingClientRect();
+        var primaryX = position.left + bBox.width / 2;
+        var primaryY = position.top + bBox.height;
+        var secondaryX = primaryX;
+        var secondaryY = position.top;
+        // Set bounds to workspace; show the drop-down.
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
+            (this as any).onHide_.bind(this));
+    }
+}

editor/field_ports.ts

@@ -0,0 +1,151 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldPortsOptions extends Blockly.FieldCustomDropdownOptions {
+    columns?: string;
+    width?: string;
+}
+
+export class FieldPorts extends Blockly.FieldDropdown implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    // Width in pixels
+    private width_: number;
+
+    // Columns in grid
+    private columns_: number;
+
+    private savedPrimary_: string;
+
+    constructor(text: string, options: FieldPortsOptions, validator?: Function) {
+        super(options.data);
+
+        this.columns_ = parseInt(options.columns) || 4;
+        this.width_ = parseInt(options.width) || 300;
+    }
+
+    trimOptions_() {
+    }
+
+    /**
+     * Create a dropdown menu under the text.
+     * @private
+     */
+    public showEditor_() {
+        // If there is an existing drop-down we own, this is a request to hide the drop-down.
+        if (Blockly.DropDownDiv.hideIfOwner(this)) {
+            return;
+        }
+        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
+        Blockly.DropDownDiv.hideWithoutAnimation();
+        Blockly.DropDownDiv.clearContent();
+        // Populate the drop-down with the icons for this field.
+        let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
+        let contentDiv = document.createElement('div');
+        // Accessibility properties
+        contentDiv.setAttribute('role', 'menu');
+        contentDiv.setAttribute('aria-haspopup', 'true');
+        let options = this.getOptions();
+        options = options.sort();
+        for (let i = 0, option: any; option = options[i]; i++) {
+            let content = (options[i] as any)[0]; // Human-readable text or image.
+            const value = (options[i] as any)[1]; // Language-neutral value.
+            // Icons with the type property placeholder take up space but don't have any functionality
+            // Use for special-case layouts
+            if (content.type == 'placeholder') {
+                let placeholder = document.createElement('span');
+                placeholder.setAttribute('class', 'blocklyDropDownPlaceholder');
+                placeholder.style.width = content.width + 'px';
+                placeholder.style.height = content.height + 'px';
+                contentDiv.appendChild(placeholder);
+                continue;
+            }
+            let button = document.createElement('button');
+            button.setAttribute('id', ':' + i); // For aria-activedescendant
+            button.setAttribute('role', 'menuitem');
+            button.setAttribute('class', 'blocklyDropDownButton');
+            button.title = content.alt;
+            if (this.columns_) {
+                button.style.width = ((this.width_ / this.columns_) - 8) + 'px';
+                button.style.height = ((this.width_ / this.columns_) - 8) + 'px';
+            } else {
+                button.style.width = content.width + 'px';
+                button.style.height = content.height + 'px';
+            }
+            let backgroundColor = this.sourceBlock_.getColour();
+            if (value == this.getValue()) {
+                // This icon is selected, show it in a different colour
+                backgroundColor = this.sourceBlock_.getColourTertiary();
+                button.setAttribute('aria-selected', 'true');
+            }
+            button.style.backgroundColor = backgroundColor;
+            button.style.borderColor = this.sourceBlock_.getColourTertiary();
+            Blockly.bindEvent_(button, 'click', this, this.buttonClick_);
+            Blockly.bindEvent_(button, 'mouseup', this, this.buttonClick_);
+            // These are applied manually instead of using the :hover pseudoclass
+            // because Android has a bad long press "helper" menu and green highlight
+            // that we must prevent with ontouchstart preventDefault
+            Blockly.bindEvent_(button, 'mousedown', button, function (e) {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                e.preventDefault();
+            });
+            Blockly.bindEvent_(button, 'mouseover', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                contentDiv.setAttribute('aria-activedescendant', this.id);
+            });
+            Blockly.bindEvent_(button, 'mouseout', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton');
+                contentDiv.removeAttribute('aria-activedescendant');
+            });
+            let buttonImg = document.createElement('img');
+            buttonImg.src = content.src;
+            //buttonImg.alt = icon.alt;
+            // Upon click/touch, we will be able to get the clicked element as e.target
+            // Store a data attribute on all possible click targets so we can match it to the icon.
+            button.setAttribute('data-value', value);
+            buttonImg.setAttribute('data-value', value);
+            button.appendChild(buttonImg);
+            contentDiv.appendChild(button);
+        }
+        contentDiv.style.width = this.width_ + 'px';
+        dropdownDiv.appendChild(contentDiv);
+
+        Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
+
+        // Calculate positioning based on the field position.
+        var scale = this.sourceBlock_.workspace.scale;
+        var bBox = { width: this.size_.width, height: this.size_.height };
+        bBox.width *= scale;
+        bBox.height *= scale;
+        var position = this.fieldGroup_.getBoundingClientRect();
+        var primaryX = position.left + bBox.width / 2;
+        var primaryY = position.top + bBox.height;
+        var secondaryX = primaryX;
+        var secondaryY = position.top;
+        // Set bounds to workspace; show the drop-down.
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
+            this.onHide_.bind(this));
+    }
+
+    /**
+     * Callback for when a button is clicked inside the drop-down.
+     * Should be bound to the FieldIconMenu.
+     * @param {Event} e DOM event for the click/touch
+     * @private
+     */
+    private buttonClick_ = function (e: any) {
+        let value = e.target.getAttribute('data-value');
+        this.setValue(value);
+        Blockly.DropDownDiv.hide();
+    };
+
+    /**
+     * Callback for when the drop-down is hidden.
+     */
+    private onHide_ = function () {
+        Blockly.DropDownDiv.content_.removeAttribute('role');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
+    };
+}

editor/field_speed.ts

@@ -0,0 +1,96 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldSpeedOptions extends Blockly.FieldCustomOptions {
+    min?: string;
+    max?: string;
+    label?: string;
+}
+
+export class FieldSpeed extends Blockly.FieldSlider implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    private params: any;
+
+    private speedSVG: SVGElement;
+    private circleBar: SVGCircleElement;
+    private reporter: SVGTextElement;
+
+    /**
+     * Class for a color wheel field.
+     * @param {number|string} value The initial content of the field.
+     * @param {Function=} opt_validator An optional function that is called
+     *     to validate any constraints on what the user entered.  Takes the new
+     *     text as an argument and returns either the accepted text, a replacement
+     *     text, or null to abort the change.
+     * @extends {Blockly.FieldNumber}
+     * @constructor
+     */
+    constructor(value_: any, params: FieldSpeedOptions, opt_validator?: Function) {
+        super(String(value_), '-100', '100', null, '10', 'Speed', opt_validator);
+        this.params = params;
+        if (this.params['min']) this.min_ = parseFloat(this.params.min);
+        if (this.params['max']) this.max_ = parseFloat(this.params.max);
+        if (this.params['label']) this.labelText_ = this.params.label;
+
+        (this as any).sliderColor_ = '#a8aaa8';
+    }
+
+    createLabelDom_(labelText: string) {
+        var labelContainer = document.createElement('div');
+        this.speedSVG = document.createElementNS("http://www.w3.org/2000/svg", "svg") as SVGGElement;
+        pxsim.svg.hydrate(this.speedSVG, {
+            viewBox: "0 0 200 100"
+        });
+
+        labelContainer.appendChild(this.speedSVG);
+
+        const outerCircle = pxsim.svg.child(this.speedSVG, "circle", {
+            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
+            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
+            'stroke': '#a8aaa8', 'stroke-width': '1rem'
+        }) as SVGCircleElement;
+        this.circleBar = pxsim.svg.child(this.speedSVG, "circle", {
+            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
+            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
+            'stroke': '#f12a21', 'stroke-width': '1rem'
+        }) as SVGCircleElement;
+
+        this.reporter = pxsim.svg.child(this.speedSVG, "text", {
+            'x': 100, 'y': 80,
+            'text-anchor': 'middle', 'alignment-baseline': 'middle',
+            'style': 'font-size: 50px',
+            'class': 'sim-text inverted number'
+        }) as SVGTextElement;
+
+        // labelContainer.setAttribute('class', 'blocklyFieldSliderLabel');
+        var readout = document.createElement('span');
+        readout.setAttribute('class', 'blocklyFieldSliderReadout');
+        // var label = document.createElement('span');
+        // label.setAttribute('class', 'blocklyFieldSliderLabelText');
+        // label.innerHTML = labelText;
+        // labelContainer.appendChild(label);
+        // labelContainer.appendChild(readout);
+        return [labelContainer, readout];
+    };
+
+    setReadout_(readout: Element, value: string) {
+        this.updateSpeed(parseFloat(value));
+        // Update reporter
+        this.reporter.textContent = `${value}%`;
+    }
+
+    private updateSpeed(speed: number) {
+        let sign = this.sign(speed);
+        speed = (Math.abs(speed) / 100 * 50) + 50;
+        if (sign == -1) speed = 50 - speed;
+        let c = Math.PI * (90 * 2);
+        let pct = ((100 - speed) / 100) * c;
+        this.circleBar.setAttribute('stroke-dashoffset', `${pct}`);
+    }
+
+    // A re-implementation of Math.sign (since IE11 doesn't support it)
+    private sign(num: number) {
+        return num ? num < 0 ? -1 : 1 : 0;
+    }
+}

editor/field_turnratio.ts

@@ -0,0 +1,108 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldTurnRatioOptions extends Blockly.FieldCustomOptions {
+}
+
+export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    private params: any;
+
+    private path_: SVGPathElement;
+    private reporter_: SVGTextElement;
+
+    /**
+     * Class for a color wheel field.
+     * @param {number|string} value The initial content of the field.
+     * @param {Function=} opt_validator An optional function that is called
+     *     to validate any constraints on what the user entered.  Takes the new
+     *     text as an argument and returns either the accepted text, a replacement
+     *     text, or null to abort the change.
+     * @extends {Blockly.FieldNumber}
+     * @constructor
+     */
+    constructor(value_: any, params: FieldTurnRatioOptions, opt_validator?: Function) {
+        super(String(value_), '-100', '100', null, '10', 'TurnRatio', opt_validator);
+        this.params = params;
+        (this as any).sliderColor_ = '#a8aaa8';
+    }
+
+    static HALF = 80;
+    static HANDLE_RADIUS = 30;
+    static RADIUS = FieldTurnRatio.HALF - FieldTurnRatio.HANDLE_RADIUS - 1;
+
+    createLabelDom_(labelText: string) {
+        let labelContainer = document.createElement('div');
+        let svg = Blockly.utils.createSvgElement('svg', {
+            'xmlns': 'http://www.w3.org/2000/svg',
+            'xmlns:html': 'http://www.w3.org/1999/xhtml',
+            'xmlns:xlink': 'http://www.w3.org/1999/xlink',
+            'version': '1.1',
+            'height': (FieldTurnRatio.HALF + FieldTurnRatio.HANDLE_RADIUS + 10) + 'px',
+            'width': (FieldTurnRatio.HALF * 2) + 'px'
+        }, labelContainer);
+        let defs = Blockly.utils.createSvgElement('defs', {}, svg);
+        let marker = Blockly.utils.createSvgElement('marker', {
+            'id': 'head',
+            'orient': "auto",
+            'markerWidth': '2',
+            'markerHeight': '4',
+            'refX': '0.1', 'refY': '1.5'
+        }, defs);
+        let markerPath = Blockly.utils.createSvgElement('path', {
+            'd': 'M0,0 V3 L1.5,1.5 Z',
+            'fill': '#f12a21'
+        }, marker);
+        this.reporter_ = pxsim.svg.child(svg, "text", {
+            'x': FieldTurnRatio.HALF, 'y': 96,
+            'text-anchor': 'middle', 'alignment-baseline': 'middle',
+            'style': 'font-size: 50px',
+            'class': 'sim-text inverted number'
+        }) as SVGTextElement;
+        this.path_ = Blockly.utils.createSvgElement('path', {
+            'x1': FieldTurnRatio.HALF,
+            'y1': FieldTurnRatio.HALF,
+            'marker-end': 'url(#head)',
+            'style': 'fill: none; stroke: #f12a21; stroke-width: 10'
+        }, svg);
+        this.updateGraph_();
+        let readout = document.createElement('span');
+        readout.setAttribute('class', 'blocklyFieldSliderReadout');
+        return [labelContainer, readout];
+    };
+
+    updateGraph_() {
+        if (!this.path_) {
+            return;
+        }
+        let v = goog.math.clamp(parseFloat(this.getText()), -100, 100);
+        if (isNaN(v)) {
+            v = 0;
+        }
+
+        const x = goog.math.clamp(parseFloat(this.getText()), -100, 100) / 100;
+        const theta = x * Math.PI / 2;
+        const cx = FieldTurnRatio.HALF;
+        const cy = FieldTurnRatio.HALF - 14;
+        const gamma = Math.PI - 2 * theta;
+        const r = FieldTurnRatio.RADIUS;
+        const alpha = 0.2 + Math.abs(x) * 0.5;
+        const x1 = 0;
+        const y1 = r * alpha;
+        const y2 = r * Math.sin(Math.PI / 2 - theta);
+        const x2 = r * Math.cos(Math.PI / 2 - theta);
+        const y3 = y2 - r * alpha * Math.cos(2 * theta);
+        const x3 = x2 - r * alpha * Math.sin(2 * theta);
+
+
+        const d = `M ${cx} ${cy} C ${cx} ${cy - y1} ${cx + x3} ${cy - y3} ${cx + x2} ${cy - y2}`;
+        this.path_.setAttribute('d', d);
+
+        this.reporter_.textContent = `${v}`;
+    }
+
+    setReadout_(readout: Element, value: string) {
+        this.updateGraph_();
+    }
+}

editor/tsconfig.json

@@ -1,12 +1,14 @@
 {
     "compilerOptions": {
         "target": "es5",
-        "noImplicitAny": true,
+        "noImplicitAny": false,
         "noImplicitReturns": true,
-        "declaration": true,
-        "out": "../built/editor.js",
+        "module": "commonjs",
+        "outDir": "../built/editor",
         "rootDir": ".",
         "newLine": "LF",
-        "sourceMap": false
+        "sourceMap": false,
+        "allowSyntheticDefaultImports": true,
+        "declaration": true
     }
 }

editor/wrap.ts

@@ -252,6 +252,13 @@ namespace pxt.editor {
             return loop()
         }
 
+
+        downloadFileAsync(path: string, cb: (d: Uint8Array) => void) {
+            return this.lock.enqueue("file", () =>
+                    this.streamFileOnceAsync(path, cb))
+        }
+        
+
         private initAsync() {
             return Promise.resolve()
         }

legoresources/Block icns/icn_block_Large_motor.svg

@@ -0,0 +1,193 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="1344 8191 55 41">
+  <defs>
+    <style>
+      .cls-1 {
+        fill: #fff;
+      }
+
+      .cls-2 {
+        fill: #a8a9a8;
+      }
+
+      .cls-3 {
+        clip-path: url(#clip-path);
+      }
+
+      .cls-4 {
+        clip-path: url(#clip-path-2);
+      }
+
+      .cls-5 {
+        fill: #919191;
+      }
+
+      .cls-6 {
+        clip-path: url(#clip-path-3);
+      }
+
+      .cls-7 {
+        fill: #f2f2f2;
+      }
+
+      .cls-8 {
+        clip-path: url(#clip-path-4);
+      }
+
+      .cls-9 {
+        fill: #6a6a6a;
+      }
+
+      .cls-10 {
+        fill: #9a9a9a;
+      }
+
+      .cls-11 {
+        fill: #d02e26;
+      }
+
+      .cls-12 {
+        fill: #242424;
+      }
+
+      .cls-13 {
+        filter: url(#rød);
+      }
+
+      .cls-14 {
+        filter: url(#Path_4);
+      }
+
+      .cls-15 {
+        filter: url(#Path_1-2);
+      }
+
+      .cls-16 {
+        filter: url(#Path_2);
+      }
+
+      .cls-17 {
+        filter: url(#Path_1);
+      }
+
+      .cls-18 {
+        filter: url(#Path_34);
+      }
+    </style>
+    <clipPath id="clip-path">
+      <rect id="Rectangle_119" data-name="Rectangle 119" class="cls-1" width="55" height="41" transform="translate(-10.923 65.26)"/>
+    </clipPath>
+    <clipPath id="clip-path-2">
+      <path id="Union_6" data-name="Union 6" class="cls-2" d="M0,88.889A11.109,11.109,0,0,1,9.191,77.947L8.954,77.7,8.947,54.41c0-.273.093-.261.255-.438l7.1-6.846V40.6l-.488-.5v-.516H11.39a2.6,2.6,0,0,1-2.6-2.6V20.163a2.6,2.6,0,0,1,2.6-2.6h4.421V12.236a3.765,3.765,0,0,1,3.766-3.765h4.241c0-.059-.005-.117-.005-.176V3.941a3,3,0,0,1,1.882-2.785V.4a.4.4,0,0,1,.4-.4H43.183a.394.394,0,0,1,.394.4v1a3,3,0,0,1,1.412,2.546V8.294c0,.059,0,.118-.005.176h2.359a3.765,3.765,0,0,1,3.765,3.765V31.528c-6.749,9.152-11.8,15.533-11.8,15.533h-.387s-4.616-.035-8.906-.062l.022,7.681h4.479a2.6,2.6,0,0,1,2.6,2.6V74.093a2.6,2.6,0,0,1-2.6,2.6H30.1l.022,7.664c0,.545-.1.545-.3.74l-6.78,6.569-.139.124a.989.989,0,0,1-1.036-.154A11.108,11.108,0,0,1,0,88.889Z"/>
+    </clipPath>
+    <filter id="Path_34" x="1375.234" y="8125.181" width="24.177" height="13.354" filterUnits="userSpaceOnUse">
+      <feOffset input="SourceAlpha"/>
+      <feGaussianBlur stdDeviation="0.5" result="blur"/>
+      <feFlood flood-opacity="0.502"/>
+      <feComposite operator="in" in2="blur"/>
+      <feComposite in="SourceGraphic"/>
+    </filter>
+    <filter id="Path_1" x="1360.37" y="8169.796" width="24.177" height="49.327" filterUnits="userSpaceOnUse">
+      <feOffset input="SourceAlpha"/>
+      <feGaussianBlur stdDeviation="0.5" result="blur-2"/>
+      <feFlood flood-opacity="0.502"/>
+      <feComposite operator="in" in2="blur-2"/>
+      <feComposite in="SourceGraphic"/>
+    </filter>
+    <filter id="Path_2" x="1367.722" y="8164.375" width="16.687" height="17.582" filterUnits="userSpaceOnUse">
+      <feOffset input="SourceAlpha"/>
+      <feGaussianBlur stdDeviation="0.5" result="blur-3"/>
+      <feFlood flood-opacity="0.502"/>
+      <feComposite operator="in" in2="blur-3"/>
+      <feComposite in="SourceGraphic"/>
+    </filter>
+    <filter id="Path_1-2" x="1367.234" y="8132.71" width="38.296" height="41.59" filterUnits="userSpaceOnUse">
+      <feOffset input="SourceAlpha"/>
+      <feGaussianBlur stdDeviation="0.5" result="blur-4"/>
+      <feFlood flood-opacity="0.502"/>
+      <feComposite operator="in" in2="blur-4"/>
+      <feComposite in="SourceGraphic"/>
+    </filter>
+    <clipPath id="clip-path-3">
+      <path id="Path_9" data-name="Path 9" class="cls-2" d="M3.765,0H31.531A3.765,3.765,0,0,1,35.3,3.765V23.057C28.547,32.209,23.5,38.59,23.5,38.59h-.387s-12.667-.1-15.533-.1a1.484,1.484,0,0,1-1.548-.641L0,31.62V3.765A3.765,3.765,0,0,1,3.765,0Z"/>
+    </clipPath>
+    <filter id="Path_4" x="1370.999" y="8136.004" width="30.766" height="34.531" filterUnits="userSpaceOnUse">
+      <feOffset input="SourceAlpha"/>
+      <feGaussianBlur stdDeviation="0.5" result="blur-5"/>
+      <feFlood flood-opacity="0.502"/>
+      <feComposite operator="in" in2="blur-5"/>
+      <feComposite in="SourceGraphic"/>
+    </filter>
+    <clipPath id="clip-path-4">
+      <path id="Path_10" data-name="Path 10" class="cls-2" d="M3.765,0H24a3.765,3.765,0,0,1,3.765,3.765v14.48c-5.628,7.331-10.127,13.286-10.127,13.286H3.765A3.765,3.765,0,0,1,0,27.766v-24A3.765,3.765,0,0,1,3.765,0Z"/>
+    </clipPath>
+    <filter id="rød" x="1351.423" y="8202.021" width="25.213" height="25.214" filterUnits="userSpaceOnUse">
+      <feOffset input="SourceAlpha"/>
+      <feGaussianBlur stdDeviation="0.5" result="blur-6"/>
+      <feFlood flood-opacity="0.502"/>
+      <feComposite operator="in" in2="blur-6"/>
+      <feComposite in="SourceGraphic"/>
+    </filter>
+  </defs>
+  <g id="icn_block_Large_motor" transform="translate(666.315 8209.204)">
+    <g id="Symbol_13_1" data-name="Symbol 13 – 1" transform="translate(688.608 -83.464)">
+      <g id="Mask_Group_12" data-name="Mask Group 12" class="cls-3">
+        <g id="Mask_Group_6" data-name="Mask Group 6" class="cls-4" transform="translate(-2)">
+          <g id="Large_motor" data-name="Large motor" transform="translate(-1.056 0)">
+            <g id="Group_23" data-name="Group 23">
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legoresources/Block icns/icn_block_buttons_green.svg

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+</svg>

legoresources/Block icns/icn_block_buttons_red.svg

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+</svg>

legoresources/Block icns/icn_block_buttons_yellow.svg

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legoresources/Block icns/icn_block_color_sensor.svg

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legoresources/Block icns/icn_block_display.svg

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legoresources/Block icns/icn_block_gyro.svg

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legoresources/Block icns/icn_block_medium_motor.svg

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legoresources/Blocks_Implemented_In_Swift_Playgrounds.md

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+# Functions for measuring in Swift Playgrounds "EV3 Animal Rescue" (Miranda)
+
+## Sensors
+
+  * Ultrasonic (cm, inches)
+  * Gyro (angle, rate)
+  * Reset Gyro
+  * Touch (count, on/off)
+  * Light (color, reflection, ambience)
+  * IR (proximity, seek)
+
+## Motor Sensors
+
+* Motor (degrees, rotations, power)
+
+#### Wait for
+
+All sensor methods have a `waitFor` version that waits for the sensor value to be >= or <=. We don't use '=' equality because it is non-sensical for floating point data.
+
+All sensors also have a `waitForIncrease`, `waitForDecrease` version.
+
+------------------------
+
+# Output Functions
+
+* Move tank ( for seconds, for degrees, for rotations, indefinitely )
+* Stop Move (stops 2 motors)
+* Motor off
+* Motor on (for seconds, for degrees, for rotations, indefinitely)
+* Reset motor (resets all counters related to the motor)
+
+
+# Brick Functions
+
+* Brick light on (color + mode: flashing, on, or pulsating)
+* Brick light off
+* Play sound (wait for completion, play once, play repeating)
+        - Parameters:
+        - file: Takes an input conforming to enum `SoundFile`. One of the following:
+            - `.hello`
+            - `.goodbye`
+            - `.fanfare`
+            - `.errorAlarm`
+            - `.start`
+            - `.stop`
+            - `.object`
+            - `.ouch`
+            - `.blip`
+            - `.arm`
+            - `.snap`
+            - `.laser`
+* Play sound frequency (for seconds, can either wait for completion or continue while playing)
+* Play sound note (in range `C4-D#9`) (for seconds, can either wait for completion or continue while playing)
+* Stopsound (stops all sounds playing)
+* Wait for seconds
+* Display text
+* Display text at `(x,y)` with color`(black, white)`, font`(bold, normal, large)` with option to clear screen
+* Display line from `(x1,y1)` to `(x2,y2)` with color `(black, white)` option to clear screen
+* Display rectangle at `(x,y)` with `(width, height)`, with fill or no fill, with color `(black, white)`, option to clear screen
+* Display image at `(x,y)`, option to clear screen.
+            takes an input conforming to enum `ImageName`. One of the following:
+            - `.neutral`
+            - `.pinchRight`
+            - `.awake`
+            - `.hurt`
+            - `.accept`
+            - `.decline`
+            - `.questionMark`
+            - `.warning`
+            - `.stop`
+            - `.pirate`
+            - `.boom`
+            - `.ev3Icon`

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