0.0.44

* removing icons

* added "pause for light"

cmds/cmds.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 fs from 'fs';

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/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/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/reference.md

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

docs/static/fonts/icons/iconfont.css

@@ -0,0 +1,30 @@
+@font-face {
+	font-family: "iconfont";
+	src: url("iconfont.eot?e05611aaee246c1da118a83eaf515de9?#iefix") format("embedded-opentype"),
+url("iconfont.woff2?e05611aaee246c1da118a83eaf515de9") format("woff2"),
+url("iconfont.woff?e05611aaee246c1da118a83eaf515de9") 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";
+}

docs/static/fonts/icons/iconfont.svg

@@ -0,0 +1,24 @@
+<?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" >
+<svg xmlns="http://www.w3.org/2000/svg">
+<defs>
+  <font id="iconfont" horiz-adv-x="40">
+    <font-face font-family="iconfont"
+      units-per-em="40" ascent="40"
+      descent="0" />
+    <missing-glyph horiz-adv-x="0" />
+    <glyph glyph-name="ultrasonic"
+      unicode="&#xF101;"
+      horiz-adv-x="40" d=" M26.8 13H13.1C15.6 14.6 17 17.3 17 20.2C17 21.8 16.6 23.3 15.8 24.7S13.8 27 12.4 27.8H27.6C26.2 27 25.1 26.1 24.2 24.7S23 21.8 23 20.2C22.9 17.3 24.3 14.6 26.8 13L26.8 13L26.8 13z M8.6 12C4.1 12 0.4 15.7 0.4 20.2S4.1 28.4 8.6 28.4S16.8 24.7 16.8 20.2C16.7 15.7 13.1 12 8.6 12zM8.6 23.4C6.8 23.4 5.4 22 5.4 20.2S6.8 16.9 8.6 16.9S11.9 18.4 11.9 20.2S10.4 23.4 8.6 23.4z M31.4 12C26.9 12 23.2 15.7 23.2 20.2S26.9 28.4 31.4 28.4S39.6 24.7 39.6 20.2C39.5 15.7 35.9 12 31.4 12zM31.4 23.4C29.6 23.4 28.1 22 28.1 20.2S29.6 16.9 31.4 16.9S34.6 18.4 34.6 20.2S33.2 23.4 31.4 23.4z" />
+    <glyph glyph-name="color"
+      unicode="&#xF102;"
+      horiz-adv-x="43.35195530726257" d=" M38.7 -0.1H4.7C3.4 -0.1 2.5 0.6 2.5 1.5V6.8H0.9A0.9608938547486034 0.9608938547486034 0 0 0 0 7.7V31.5A0.9608938547486034 0.9608938547486034 0 0 0 0.9 32.4H2.5V38.4C2.5 39.3 3.6 40 4.7 40H38.7C40 40 40.9 39.3 40.9 38.4V32.4H42.5A0.9608938547486034 0.9608938547486034 0 0 0 43.4 31.5V7.8A0.9608938547486034 0.9608938547486034 0 0 0 42.5 6.9H40.9V1.6C41.1 0.7 40 -0.1 38.7 -0.1zM21.7 35.1A11.374301675977657 11.374301675977657 0 0 1 13.6 15.5A4.916201117318437 4.916201117318437 0 0 1 13.4 13.7A8.268156424581006 8.268156424581006 0 0 1 29.9 13.7A4.916201117318437 4.916201117318437 0 0 1 29.7 15.5A12.379888268156424 12.379888268156424 0 0 1 33.1 23.6A11.1731843575419 11.1731843575419 0 0 1 21.7 35.1zM41.6 18.3V10.9H42.5V18.3zM1.1 18.3V10.9H2V18.3zM41.6 28.6V21.2H42.5V28.6zM1.1 28.6V21.2H2V28.6z M21.9 7.4A6.480446927374302 6.480446927374302 0 0 0 15.4 13.9A9.497206703910615 9.497206703910615 0 0 0 15.9 16.3A9.87709497206704 9.87709497206704 0 0 0 12.3 23.9A9.608938547486035 9.608938547486035 0 0 0 31.5 23.9A9.87709497206704 9.87709497206704 0 0 0 27.9 16.3A8.022346368715086 8.022346368715086 0 0 0 28.4 13.9A6.703910614525141 6.703910614525141 0 0 0 21.9 7.4zM21.9 16.3A2.4581005586592184 2.4581005586592184 0 1 1 24.4 13.9A2.837988826815643 2.837988826815643 0 0 1 21.9 16.3zM21.9 27.7A4.46927374301676 4.46927374301676 0 1 1 26.4 23.2A4.804469273743018 4.804469273743018 0 0 1 21.9 27.7z" />
+    <glyph glyph-name="touch"
+      unicode="&#xF103;"
+      horiz-adv-x="40" d=" M34.3 3.3H4.9C3.8 3.3 2.8 3.9 2.8 4.8V9.3H1.5C1.1 9.3 0.7 9.7 0.7 10.1V30.5C0.7 30.9 1.1 31.3 1.5 31.3H2.8V36.6C2.8 37.4 3.7 38.1 4.9 38.1H16V36.6H22.7V38.1H34.2C35.3 38.1 36.3 37.5 36.3 36.6V31.3H37.6C37.9 31.3 38.3 30.9 38.3 30.5V10.1C38.3 9.7 37.9 9.3 37.6 9.3H36.3V4.8C36.3 3.9 35.3 3.3 34.3 3.3L34.3 3.3zM14.1 16.2C14.7 15.3 15.4 14.7 16.2 14.1V5.6H22.6V14.1C23.5 14.7 24.1 15.4 24.7 16.2H33.4V22.6H24.9C24.3 23.5 23.6 24.3 22.6 24.9V33.6H16.2V24.9C15.3 24.3 14.5 23.6 13.9 22.6H5.4V16.2H14.1L14.1 16.2zM36.6 19.2V13H37.4V19.2H36.6zM1.8 19.2V13H2.6V19.2H1.8zM36.6 28.1V21.9H37.4V28.1H36.6zM1.8 28.1V21.9H2.6V28.1H1.8zM19.4 15.4C18.8 15.4 18.5 15.4 18.1 15.6V17.1C18.1 17.5 17.9 17.7 17.5 17.7L17.5 17.7H16C15.8 18.1 15.6 18.6 15.6 19.2C15.6 19.8 15.6 20.3 16 20.7H17.3C18.1 20.7 18.1 21.6 18.1 21.6L18.1 21.6C18.1 21.8 18.1 22.4 18.1 22.9C18.5 23.1 19 23.1 19.4 23.1C20 23.1 20.5 23.1 21.1 22.9C21.1 22.5 21.1 22 21.1 21.6L21.1 21.6V21.4C21.1 21 21.3 20.8 21.7 20.8C21.7 20.8 21.7 20.8 21.9 20.8L21.9 20.8H23.4C23.8 20.4 23.8 19.9 23.8 19.3S23.6 18.2 23.4 17.8L23.4 17.8C23 17.8 22.5 17.6 22.1 17.6C21.7 17.6 21.3 17.4 21.3 17V15.5C20.7 15.3 20.4 15.3 19.8 15.3C19.4 15.4 19.4 15.4 19.4 15.4z" />
+    <glyph glyph-name="gyro"
+      unicode="&#xF104;"
+      horiz-adv-x="23.578015492438215" d=" M17 0H6.4A5.901881224640355 5.901881224640355 0 0 0 5.1 0.3H2.3A1.283659166359277 1.283659166359277 0 0 0 1 1.6V4.5H0.5A0.5016599040944301 0.5016599040944301 0 0 0 0 5V35.4A0.5016599040944301 0.5016599040944301 0 0 0 0.5 35.9H1V38.7A1.283659166359277 1.283659166359277 0 0 0 2.3 40H10.6V39.6H12.8V40H21.2A1.283659166359277 1.283659166359277 0 0 0 22.5 38.7V35.9H23.1A0.5016599040944301 0.5016599040944301 0 0 0 23.6 35.4V5.1A0.5016599040944301 0.5016599040944301 0 0 0 23.1 4.6H22.5V1.6A1.283659166359277 1.283659166359277 0 0 0 21.2 0.4H18.5C18.4 0.1 17.2 0 17 0zM6.2 34.5L3.7 33.8A1.0033198081888601 1.0033198081888601 0 0 1 3.4 33.7A0.2360752489856142 0.2360752489856142 0 0 1 3.3 33.5A0.20656584286241245 0.20656584286241245 0 0 1 3.4 33.3L4.1 32.8A7.657690888970861 7.657690888970861 0 0 1 3.1 30A8.51346366654371 8.51346366654371 0 0 1 4.8 23.5C5.8 24.2 6.5 24.7 6.5 24.7A7.377351530800443 7.377351530800443 0 0 0 5.4 26.9A6.300258207303577 6.300258207303577 0 0 0 6 31.8L6.5 31.5H6.5L6.6 31.5A0.3541128734784213 0.3541128734784213 0 0 1 6.8 31.4A0.17705643673921065 0.17705643673921065 0 0 1 7 31.5A0.6344522316488379 0.6344522316488379 0 0 1 7 32L6.2 34.5zM17.5 31.8H17.5A6.300258207303577 6.300258207303577 0 0 0 18 26.9A7.510143858354851 7.510143858354851 0 0 0 17 24.7L17.1 24.6L18.6 23.5A8.631501291036518 8.631501291036518 0 0 1 20.3 30A7.657690888970861 7.657690888970861 0 0 1 19.3 32.8L19.8 33.1L20 33.2A0.22132054592401326 0.22132054592401326 0 0 1 20.1 33.4A0.26558465510881596 0.26558465510881596 0 0 1 20 33.6A1.0033198081888601 1.0033198081888601 0 0 1 19.7 33.7L17.2 34.5S17.1 34.1 17 33.6S16.6 32.3 16.5 32A0.619697528587237 0.619697528587237 0 0 1 16.5 31.5A0.17705643673921065 0.17705643673921065 0 0 1 16.6 31.4A0.48690520103282936 0.48690520103282936 0 0 1 16.8 31.4L16.8 31.4L17.4 31.7zM11.7 30.6A1.9918849133161198 1.9918849133161198 0 1 1 13.7 28.6A1.9918849133161198 1.9918849133161198 0 0 1 11.7 30.6H11.7z" />
+  </font>
+</defs>
+</svg>

docs/tests/motors.md

@@ -0,0 +1,47 @@
+```typescript
+tests.test("lgB set speed 10", () => {
+    motors.largeB.setSpeed(10);
+    loops.pause(100)
+    tests.assertClose("speedB", 10, motors.largeB.speed(), 2)
+});
+tests.test("lgB set speed 25 (reversed)", () => {
+    motors.largeB.setReversed(true)
+    motors.largeB.setSpeed(25)
+    loops.pause(100)
+    tests.assertClose("speedB", -25, motors.largeB.speed(), 2)
+});
+tests.test("lgBC set speed 5", () => {
+    motors.largeBC.setSpeed(5)
+    loops.pause(100)
+    tests.assertClose("speedB", 5, motors.largeB.speed(), 1);
+    tests.assertClose("speedC", 5, motors.largeC.speed(), 1);
+});
+tests.test("lgBC steer 50% 2x", () => {
+    motors.largeBC.setBrake(true)
+    motors.largeBC.steer(50, 50, 1, MoveUnit.Rotations)
+    loops.pause(1000)
+    tests.assertClose("largeB", 360, motors.largeB.angle(), 5)
+    motors.largeBC.setBrake(false)
+})
+tests.test("lgBC steer 50% 500deg", () => {
+    motors.largeBC.setBrake(true)
+    motors.largeBC.steer(50, 50, 135, MoveUnit.Degrees)
+    loops.pause(1000)
+    tests.assertClose("largeB", 135, motors.largeB.angle(), 5)
+});
+tests.test("lgBC steer 50% 2s", () => {
+    motors.largeBC.setBrake(true)
+    motors.largeBC.steer(50, 50, 500, MoveUnit.MilliSeconds)
+    loops.pause(1000)
+})
+tests.test("lgBC tank 50% 720deg", () => {
+    motors.largeBC.setBrake(true)
+    motors.largeBC.tank(50, 50, 180, MoveUnit.Degrees)
+    loops.pause(1000)
+    tests.assertClose("largeB", 180, motors.largeB.angle(), 5)
+});
+```
+
+```package
+tests
+```

editor/extension.ts

@@ -9,6 +9,13 @@ eval("if (typeof process === 'object' && process + '' === '[object process]') px
 namespace pxt.editor {
     import UF2 = pxtc.UF2;
 
+    export let ev3: Ev3Wrapper
+
+    export function debug() {
+        return initAsync()
+            .then(w => w.downloadFileAsync("/tmp/dmesg.txt", v => console.log(pxt.Util.uint8ArrayToString(v))))
+    }
+
     // this comes from aux/pxt.lms
     const rbfTemplate = `
 4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
@@ -19,6 +26,7 @@ namespace pxt.editor {
         return pxt.HF2.mkPacketIOAsync()
             .then(h => {
                 let w = new Ev3Wrapper(h)
+                ev3 = w
                 return w.reconnectAsync(true)
                     .then(() => w)
             })

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)">
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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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libs/base/_locales/base-jsdoc-strings.json

@@ -92,7 +92,7 @@
   "Math.pow|param|x": "The base value of the expression.",
   "Math.pow|param|y": "The exponent value of the expression.",
   "Math.random": "Returns a pseudorandom number between 0 and 1.",
-  "Math.randomRange": "Returns a pseudorandom number between min and max included. \nIf both numbers are integral, the result is integral.",
+  "Math.randomRange": "Returns a pseudorandom number between min and max included.\nIf both numbers are integral, the result is integral.",
   "Math.randomRange|param|max": "the upper inclusive bound, eg: 10",
   "Math.randomRange|param|min": "the lower inclusive bound, eg: 0",
   "Math.round": "Returns a supplied numeric expression rounded to the nearest number.",
@@ -142,9 +142,10 @@
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   "loops.pause": "Pause for the specified time in milliseconds",
   "loops.pause|param|ms": "how long to pause for, eg: 100, 200, 500, 1000, 2000",
-  "loops.timePicker": "Get the time field editor",
-  "loops.timePicker|param|ms": "time duration in milliseconds, eg: 500, 1000",
   "parseInt": "Convert a string to an integer.",
+  "pauseUntil": "Busy wait for a condition to be true",
+  "pauseUntil|param|condition": "condition to test for",
+  "pauseUntil|param|timeOut": "if positive, maximum duration to wait for in milliseconds",
   "serial": "Reading and writing data over a serial connection.",
   "serial.writeBuffer": "Send a buffer across the serial connection.",
   "serial.writeLine": "Write a line of text to the serial port.",

libs/base/_locales/base-strings.json

@@ -31,7 +31,6 @@
   "control|block": "control",
   "loops.forever|block": "forever",
   "loops.pause|block": "pause %pause=timePicker|ms",
-  "loops.timePicker|block": "%ms",
   "loops|block": "loops",
   "parseInt|block": "parse to integer %text",
   "serial.writeBuffer|block": "serial|write buffer %buffer",

libs/color-sensor/README.md

@@ -0,0 +1,3 @@
+# Color sensor
+
+The library to interact with the Touch Sensor.

libs/color-sensor/_locales/color-sensor-jsdoc-strings.json

@@ -0,0 +1,15 @@
+{
+  "sensors.ColorSensor": "The color sensor is a digital sensor that can detect the color or intensity\nof light that enters the small window on the face of the sensor.",
+  "sensors.ColorSensor.color": "Get the current color from the color sensor.",
+  "sensors.ColorSensor.colorMode": "Gets the current color mode",
+  "sensors.ColorSensor.light": "Measures the ambient or reflected light value from 0 (darkest) to 100 (brightest).",
+  "sensors.ColorSensor.onColorDetected": "Registers code to run when the given color is detected.",
+  "sensors.ColorSensor.onColorDetected|param|color": "the color to detect, eg: ColorSensorColor.Blue",
+  "sensors.ColorSensor.onColorDetected|param|handler": "the code to run when detected",
+  "sensors.ColorSensor.onLightChanged": "Registers code to run when the ambient light changes.",
+  "sensors.ColorSensor.onLightChanged|param|condition": "the light condition",
+  "sensors.ColorSensor.onLightChanged|param|handler": "the code to run when detected",
+  "sensors.ColorSensor.pauseForColor": "Waits for the given color to be detected",
+  "sensors.ColorSensor.pauseForColor|param|color": "the color to detect",
+  "sensors.ColorSensor.pauseForLight": "Waits for the given color to be detected"
+}

libs/color-sensor/_locales/color-sensor-strings.json

@@ -0,0 +1,29 @@
+{
+  "ColorSensorColor.Black|block": "black",
+  "ColorSensorColor.Blue|block": "blue",
+  "ColorSensorColor.Brown|block": "brown",
+  "ColorSensorColor.Green|block": "green",
+  "ColorSensorColor.None|block": "none",
+  "ColorSensorColor.Red|block": "red",
+  "ColorSensorColor.White|block": "white",
+  "ColorSensorColor.Yellow|block": "yellow",
+  "ColorSensorMode.AmbientLightIntensity|block": "ambient light intensity",
+  "ColorSensorMode.Color|block": "color",
+  "ColorSensorMode.ReflectedLightIntensity|block": "reflected light intensity",
+  "LightCondition.Dark|block": "dark",
+  "LightIntensityMode.Ambient|block": "ambient light",
+  "LightIntensityMode.Reflected|block": "reflected light",
+  "sensors.ColorSensor.color|block": "%sensor| color",
+  "sensors.ColorSensor.light|block": "%sensor|%mode",
+  "sensors.ColorSensor.onColorDetected|block": "on %sensor|detected color %color",
+  "sensors.ColorSensor.onLightChanged|block": "on %sensor|%mode|%condition",
+  "sensors.ColorSensor.pauseForColor|block": "pause %sensor|for color %color",
+  "sensors.ColorSensor.pauseForLight|block": "pause %sensor|for %mode|light %condition",
+  "sensors.color1|block": "color 1",
+  "sensors.color2|block": "color 2",
+  "sensors.color3|block": "color 3",
+  "sensors.color4|block": "color 4",
+  "sensors|block": "sensors",
+  "{id:category}Sensors": "Sensors",
+  "{id:group}Color Sensor": "Color Sensor"
+}

libs/color-sensor/color.ts

@@ -0,0 +1,223 @@
+const enum ColorSensorMode {
+    None = -1,
+    //% block="reflected light intensity"
+    ReflectedLightIntensity = 0,
+    //% block="ambient light intensity"
+    AmbientLightIntensity = 1,
+    //% block="color"
+    Color = 2,
+    RefRaw = 3,
+    RgbRaw = 4,
+    ColorCal = 5,
+}
+
+enum LightIntensityMode {
+    //% block="reflected light"
+    Reflected = ColorSensorMode.ReflectedLightIntensity,
+    //% block="ambient light"
+    Ambient = ColorSensorMode.AmbientLightIntensity
+}
+
+const enum ColorSensorColor {
+    //% block="none"
+    None,
+    //% block="black"
+    Black,
+    //% block="blue"
+    Blue,
+    //% block="green"
+    Green,
+    //% block="yellow"
+    Yellow,
+    //% block="red"
+    Red,
+    //% block="white"
+    White,
+    //% block="brown"
+    Brown,
+}
+
+enum LightCondition {
+    //% block="dark"
+    Dark = sensors.internal.ThresholdState.Low,
+    //$ block="bright"
+    Bright = sensors.internal.ThresholdState.High
+}
+
+namespace sensors {
+
+    /**
+     * The color sensor is a digital sensor that can detect the color or intensity
+     * of light that enters the small window on the face of the sensor.
+     */
+    //% fixedInstances
+    export class ColorSensor extends internal.UartSensor {
+        thresholdDetector: sensors.internal.ThresholdDetector;
+
+        constructor(port: number) {
+            super(port)
+            this.thresholdDetector = new sensors.internal.ThresholdDetector(this.id());
+        }
+
+        _colorEventValue(value: number) {
+            return 0xff00 | value;
+        }
+
+        _deviceType() {
+            return DAL.DEVICE_TYPE_COLOR
+        }
+
+        setMode(m: ColorSensorMode) {
+            this._setMode(m)
+        }
+
+        /**
+         * Gets the current color mode
+         */
+        colorMode() {
+            return <ColorSensorMode>this.mode;
+        }
+
+        _query() {
+            if (this.mode == ColorSensorMode.Color
+                || this.mode == ColorSensorMode.AmbientLightIntensity
+                || this.mode == ColorSensorMode.ReflectedLightIntensity)
+                return this.getNumber(NumberFormat.UInt8LE, 0)
+            return 0
+        }
+
+        _update(prev: number, curr: number) {
+            if (this.mode == ColorSensorMode.Color)
+                control.raiseEvent(this._id, this._colorEventValue(curr));
+            else
+                this.thresholdDetector.setLevel(curr);
+        }
+
+        /**
+         * Registers code to run when the given color is detected.
+         * @param color the color to detect, eg: ColorSensorColor.Blue
+         * @param handler the code to run when detected
+         */
+        //% help=sensors/color-sensor/on-color-detected
+        //% block="on %sensor|detected color %color"
+        //% blockId=colorOnColorDetected
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% weight=100 blockGap=8
+        //% group="Color Sensor"
+        onColorDetected(color: ColorSensorColor, handler: () => void) {
+            this.setMode(ColorSensorMode.Color)
+            const v = this._colorEventValue(<number>color);
+            control.onEvent(this._id, v, handler);
+            if (this.color() == color)
+                control.raiseEvent(this._id, v);
+        }
+
+        /**
+         * Waits for the given color to be detected
+         * @param color the color to detect
+         */
+        //% help=sensors/color-sensor/pause-for-color
+        //% block="pause %sensor|for color %color"
+        //% blockId=colorPauseForColorDetected
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% weight=99 blockGap=8
+        //% group="Color Sensor"
+        pauseForColor(color: ColorSensorColor) {
+            this.setMode(ColorSensorMode.Color);
+            if (this.color() != color) {
+                const v = this._colorEventValue(<number>color);
+                control.waitForEvent(this._id, v);
+            }
+        }
+
+        /**
+         * Get the current color from the color sensor.
+         * @param sensor the color sensor to query the request
+         */
+        //% help=sensors/color-sensor/color
+        //% block="%sensor| color"
+        //% blockId=colorGetColor
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% weight=99
+        //% group="Color Sensor"
+        color(): ColorSensorColor {
+            this.setMode(ColorSensorMode.Color)
+            return this.getNumber(NumberFormat.UInt8LE, 0)
+        }
+
+        /**
+         * Registers code to run when the ambient light changes.
+         * @param condition the light condition
+         * @param handler the code to run when detected
+         */
+        //% help=sensors/color-sensor/on-light-changed
+        //% block="on %sensor|%mode|%condition"
+        //% blockId=colorOnLightChanged
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% weight=89 blockGap=8
+        //% group="Color Sensor"
+        onLightChanged(mode: LightIntensityMode, condition: LightCondition, handler: () => void) {
+            this.setMode(<ColorSensorMode><number>mode)
+            control.onEvent(this._id, <number>condition, handler);
+        }
+
+        /**
+         * Waits for the given color to be detected
+         * @param color the color to detect
+         */
+        //% help=sensors/color-sensor/pause-for-light
+        //% block="pause %sensor|for %mode|light %condition"
+        //% blockId=colorPauseForLight
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% weight=88 blockGap=8
+        //% group="Color Sensor"
+        pauseForLight(mode: LightIntensityMode, condition: LightCondition) {
+            this.setMode(<ColorSensorMode><number>mode)
+            if (this.thresholdDetector.state != <number>condition)
+                control.waitForEvent(this._id, <number>condition)
+        }
+
+        /**
+         * Measures the ambient or reflected light value from 0 (darkest) to 100 (brightest).
+         * @param sensor the color sensor port
+         */
+        //% help=sensors/color-sensor/light
+        //% block="%sensor|%mode"
+        //% blockId=colorLight
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% weight=87
+        //% group="Color Sensor"
+        light(mode: LightIntensityMode) {
+            this.setMode(<ColorSensorMode><number>mode)
+            return this.getNumber(NumberFormat.UInt8LE, 0)
+        }
+
+        //%
+        ambientLight() {
+            return this.light(LightIntensityMode.Ambient);
+        }
+
+        //%
+        reflectedLight() {
+            return this.light(LightIntensityMode.Reflected);
+        }
+    }
+
+    //% whenUsed block="color 1" weight=95 fixedInstance jres=icons.port1
+    export const color1: ColorSensor = new ColorSensor(1)
+
+    //% whenUsed block="color 2" weight=90 fixedInstance jres=icons.port2
+    export const color2: ColorSensor = new ColorSensor(2)
+
+    //% whenUsed block="color 3" weight=90 fixedInstance jres=icons.port3
+    export const color3: ColorSensor = new ColorSensor(3)
+
+    //% whenUsed block="color 4" weight=90 fixedInstance jres=icons.port4
+    export const color4: ColorSensor = new ColorSensor(4)
+}

libs/color-sensor/docs/reference/sensors/color-sensor.md

@@ -0,0 +1,16 @@
+# Color Sensor
+
+```cards
+sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {
+})
+sensors.color1.color();
+sensors.color1.ambientLight();
+sensors.color1.reflectedLight();
+```
+
+## See Also
+
+[on color detected](/reference/sensors/color-sensor/on-color-detected),
+[color](/reference/sensors/color-sensor/color),
+[ambient light](/reference/sensors/color-sensor/ambient-light),
+[reflected light](/reference/sensors/color-sensor/reflected-light),

libs/color-sensor/docs/reference/sensors/color-sensor/ambient-light.md

@@ -0,0 +1,11 @@
+# Ambient Light
+
+```blocks
+loops.forever(function () {
+    if (sensors.color1.ambientLight() > 20) {
+        brick.setStatusLight(LightsPattern.Green)
+    } else {
+        brick.setStatusLight(LightsPattern.Orange)
+    }
+})
+```

libs/color-sensor/docs/reference/sensors/color-sensor/color.md

@@ -0,0 +1,11 @@
+# color
+
+```blocks
+loops.forever(function () {
+    if (sensors.color1.color() == ColorSensorColor.Green) {
+        brick.setStatusLight(LightsPattern.Green)
+    } else {
+        brick.setStatusLight(LightsPattern.Orange)
+    }
+})
+```

libs/color-sensor/docs/reference/sensors/color-sensor/on-color-detected.md

@@ -0,0 +1,16 @@
+# On Color Detected
+
+```sig
+sensors.color1.onColorDetected(ColorSensorColor.Blue, function () { })
+```
+
+# Parameters
+
+## Examples
+
+
+```blocks
+sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {
+    brick.showImage(images.expressionsSick)
+})
+```

libs/color-sensor/docs/reference/sensors/color-sensor/reflected-light.md

@@ -0,0 +1,11 @@
+# Reflected Light
+
+```blocks
+loops.forever(function () {
+    if (sensors.color1.reflectedLight() > 20) {
+        brick.setStatusLight(LightsPattern.Green)
+    } else {
+        brick.setStatusLight(LightsPattern.Orange)
+    }
+})
+```

libs/color-sensor/pxt.json

@@ -0,0 +1,15 @@
+{
+    "name": "color-sensor",
+    "description": "Color Sensor support",
+    "files": [
+        "README.md",
+        "color.ts"
+    ],
+    "testFiles": [
+        "test.ts"
+    ],
+    "public": true,
+    "dependencies": {
+            "core": "file:../core"
+    }
+}

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

@@ -14,19 +14,23 @@
   "MMap.setNumber": "Write a number in specified format in the buffer.",
   "MMap.slice": "Read a range of bytes into a buffer.",
   "MMap.write": "Perform write(2) on the underlaying file",
-  "TouchSensorEvent": "Touch sensor interactions",
   "brick.Button": "Generic button class, for device buttons and sensors.",
   "brick.Button.isPressed": "Check if button is currently pressed or not.",
   "brick.Button.onEvent": "Do something when a button or sensor is clicked, up or down.",
   "brick.Button.onEvent|param|body": "code to run when the event is raised",
+  "brick.Button.pauseUntil": "Waits until the event is raised",
+  "brick.Button.pauseUntil|param|ev": "the event to wait for",
   "brick.Button.wasPressed": "See if the button was pressed again since the last time you checked.",
+  "brick._imagePicker": "An image",
+  "brick._imagePicker|param|image": "the image",
   "brick.buttonDown": "Down button on the EV3 Brick.",
   "brick.buttonEnter": "Enter button on the EV3 Brick.",
   "brick.buttonLeft": "Left button on the EV3 Brick.",
   "brick.buttonRight": "Right button on the EV3 Brick.",
   "brick.buttonUp": "Up button on the EV3 Brick.",
-  "brick.pattern": "Pattern block.",
-  "brick.pattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
+  "brick.clearScreen": "Clears the screen",
+  "brick.lightPattern": "Pattern block.",
+  "brick.lightPattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
   "brick.print": "Show text on the screen.",
   "brick.print|param|text": "the text to print on the screen, eg: \"Hello world\"",
   "brick.print|param|x": "the starting position's x coordinate, eg: 0",
@@ -37,6 +41,15 @@
   "brick.setPixel|param|y": "the starting position's x coordinate, eg: 0",
   "brick.setStatusLight": "Set lights.",
   "brick.setStatusLight|param|pattern": "the lights pattern to use.",
+  "brick.showImage": "Shows an image on screen",
+  "brick.showImage|param|image": "image to draw",
+  "console": "Reading and writing data to the console output.\n\nReading and writing data to the console output.",
+  "console.addListener": "Adds a listener for the log messages",
+  "console.log": "Write a line of text to the console output.",
+  "console.logValue": "Write a name:value pair as a line of text to the console output.",
+  "console.logValue|param|name": "name of the value stream, eg: \"x\"",
+  "console.logValue|param|value": "to write",
+  "console.sendToScreen": "Sends the log messages to the brick screen and uses the brick up and down buttons to scroll.",
   "control": "Program controls and events.",
   "control.allocateNotifyEvent": "Allocates the next user notification event",
   "control.deviceFirmwareVersion": "Determine the version of system software currently running.",
@@ -45,55 +58,49 @@
   "control.raiseEvent": "Announce that an event happened to registered handlers.",
   "control.raiseEvent|param|src": "ID of the Component that generated the event",
   "control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
+  "motors.Motor.angle": "Gets motor ration angle.",
   "motors.Motor.clearCount": "Clears the motor count",
-  "motors.Motor.count": "Gets motor step count.",
-  "motors.Motor.move": "Moves the motor by a number of degrees",
-  "motors.Motor.move|param|angle": "the degrees to rotate, eg: 360",
-  "motors.Motor.move|param|power": "the power from ``100`` full forward to ``-100`` full backward, eg: 50",
-  "motors.Motor.power": "Sets the motor power level from ``-100`` to ``100``.",
-  "motors.Motor.power|param|power": "the power from ``100`` full forward to ``-100`` full backward, eg: 50",
-  "motors.Motor.reset": "Resets the motor.",
-  "motors.Motor.setBrake": "Sets the automatic brake on or off when the motor is off",
-  "motors.Motor.setBrake|param|brake": "a value indicating if the motor should break when off",
-  "motors.Motor.setReversed": "Reverses the motor polarity",
   "motors.Motor.speed": "Gets motor actual speed.",
-  "motors.Motor.stop": "Stops the motor",
-  "motors.Motor.tachoCount": "Gets motor tacho count.",
+  "motors.Motor.toString": "Returns the status of the motor",
+  "motors.MotorBase.isReady": "Returns a value indicating if the motor is still running a previous command.",
+  "motors.MotorBase.move": "Moves the motor by a number of rotations, degress or seconds",
+  "motors.MotorBase.move|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
+  "motors.MotorBase.move|param|unit": "the meaning of the value",
+  "motors.MotorBase.move|param|value": "the move quantity, eg: 2",
+  "motors.MotorBase.pauseUntilReady": "Pauses the execution until the previous command finished.",
+  "motors.MotorBase.pauseUntilReady|param|timeOut": "optional maximum pausing time in milliseconds",
+  "motors.MotorBase.reset": "Resets the motor(s).",
+  "motors.MotorBase.setBrake": "Sets the automatic brake on or off when the motor is off",
+  "motors.MotorBase.setBrake|param|brake": "a value indicating if the motor should break when off",
+  "motors.MotorBase.setReversed": "Reverses the motor polarity",
+  "motors.MotorBase.setSpeed": "Sets the speed of the motor.",
+  "motors.MotorBase.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
+  "motors.MotorBase.stop": "Stops the motor(s).",
+  "motors.SynchedMotorPair.steer": "Turns the motor and the follower motor by a number of rotations",
+  "motors.SynchedMotorPair.steer|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
+  "motors.SynchedMotorPair.steer|param|steering": "the ratio of power sent to the follower motor, from ``-100`` to ``100``",
+  "motors.SynchedMotorPair.steer|param|unit": "the meaning of the value",
+  "motors.SynchedMotorPair.steer|param|value": "the move quantity, eg: 2",
+  "motors.SynchedMotorPair.tank": "The Move Tank block can make a robot drive forward, backward, turn, or stop. \nUse the Move Tank block for robot vehicles that have two Large Motors, \nwith one motor driving the left side of the vehicle and the other the right side. \nYou can make the two motors go at different speeds or in different directions \nto make your robot turn.",
+  "motors.SynchedMotorPair.tank|param|speedRight": "the speed on the right motor, eg: 50",
+  "motors.SynchedMotorPair.tank|param|unit": "@param speedLeft the speed on the left motor, eg: 50",
+  "motors.SynchedMotorPair.tank|param|value": "the amount of movement, eg: 2",
+  "motors.SynchedMotorPair.toString": "Returns the name(s) of the motor",
+  "motors.mkCmd": "Allocates a message buffer",
+  "motors.mkCmd|param|addSize": "required additional bytes",
+  "motors.mkCmd|param|cmd": "command id",
+  "motors.mkCmd|param|out": "ports",
+  "motors.readPWM": "Sends and receives a message from the motors device",
+  "motors.readPWM|param|buf": "message buffer",
+  "motors.resetAllMotors": "Resets all motors",
   "motors.stopAllMotors": "Stops all motors",
+  "motors.writePWM": "Sends a command to the motors device",
+  "motors.writePWM|param|buf": "the command buffer",
   "output.createBuffer": "Create a new zero-initialized buffer.",
   "output.createBuffer|param|size": "number of bytes in the buffer",
   "screen.clear": "Clear screen and reset font to normal.",
   "screen.imageOf": "Makes an image bound to a buffer.",
   "screen.unpackPNG": "Decompresses a 1-bit gray scale PNG image to image format.",
-  "sensors.ColorSensor.ambientLight": "Get current ambient light value from the color sensor.",
-  "sensors.ColorSensor.color": "Get the current color from the color sensor.",
-  "sensors.ColorSensor.onColorDetected": "Registers code to run when the given color is detected",
-  "sensors.ColorSensor.onColorDetected|param|color": "the color to dtect",
-  "sensors.ColorSensor.onColorDetected|param|handler": "the code to run when detected",
-  "sensors.ColorSensor.reflectedLight": "Get current reflected light value from the color sensor.",
-  "sensors.GyroSensor.angle": "Get the current angle from the gyroscope.",
-  "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
-  "sensors.InfraredSensor.on": "Registers code to run when an object is getting near.",
-  "sensors.InfraredSensor.on|param|handler": "the code to run when detected",
-  "sensors.InfraredSensor.proximity": "Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)",
-  "sensors.InfraredSensor.remoteCommand": "Get the remote commandreceived the infrared sensor.",
-  "sensors.InfraredSensor.wait": "Waits for the event to occur",
-  "sensors.RemoteInfraredBeaconButton.isPressed": "Check if a remote button is currently pressed or not.",
-  "sensors.RemoteInfraredBeaconButton.onEvent": "Do something when a button or sensor is clicked, up or down",
-  "sensors.RemoteInfraredBeaconButton.onEvent|param|body": "code to run when the event is raised",
-  "sensors.RemoteInfraredBeaconButton.wasPressed": "See if the remote button was pressed again since the last time you checked.",
-  "sensors.TouchSensor.isTouched": "Check if touch sensor is touched.",
-  "sensors.TouchSensor.onEvent": "Do something when a touch sensor is touched...",
-  "sensors.TouchSensor.onEvent|param|body": "code to run when the event is raised",
-  "sensors.UltraSonicSensor.distance": "Gets the distance from the sonar in millimeters",
-  "sensors.UltraSonicSensor.on": "Registers code to run when the given color is close",
-  "sensors.UltraSonicSensor.on|param|handler": "the code to run when detected",
-  "sensors.UltraSonicSensor.wait": "Waits for the event to occur",
-  "sensors.remoteButtonBottomLeft": "Remote bottom-left button.",
-  "sensors.remoteButtonBottomRight": "Remote bottom-right button.",
-  "sensors.remoteButtonCenter": "Remote beacon (center) button.",
-  "sensors.remoteButtonTopLeft": "Remote top-left button.",
-  "sensors.remoteButtonTopRight": "Remote top-right button.",
   "serial": "Reading and writing data over a serial connection.",
   "serial.writeDmesg": "Send DMESG debug buffer over serial."
 }

libs/core/_locales/core-strings.json

@@ -2,16 +2,6 @@
   "ButtonEvent.Click|block": "click",
   "ButtonEvent.Down|block": "down",
   "ButtonEvent.Up|block": "up",
-  "ColorSensorColor.Black|block": "black",
-  "ColorSensorColor.Blue|block": "blue",
-  "ColorSensorColor.Brown|block": "brown",
-  "ColorSensorColor.Green|block": "green",
-  "ColorSensorColor.None|block": "none",
-  "ColorSensorColor.Red|block": "red",
-  "ColorSensorColor.White|block": "white",
-  "ColorSensorColor.Yellow|block": "yellow",
-  "InfraredSensorEvent.ObjectDetected|block": "object detected",
-  "InfraredSensorEvent.ObjectNear|block": "object near",
   "LightsPattern.GreenFlash|block": "Flashing Green",
   "LightsPattern.GreenPulse|block": "Pulsing Green",
   "LightsPattern.Green|block": "Green",
@@ -22,97 +12,70 @@
   "LightsPattern.RedFlash|block": "Flashing Red",
   "LightsPattern.RedPulse|block": "Pulsing Red",
   "LightsPattern.Red|block": "Red",
+  "MoveUnit.Degrees|block": "degrees",
+  "MoveUnit.MilliSeconds|block": "milliseconds",
+  "MoveUnit.Rotations|block": "rotations",
+  "Output.AB|block": "A+B",
+  "Output.AD|block": "A+D",
   "Output.ALL|block": "All",
   "Output.A|block": "A",
+  "Output.BC|block": "B+C",
   "Output.B|block": "B",
+  "Output.CD|block": "C+D",
   "Output.C|block": "C",
   "Output.D|block": "D",
-  "TouchSensorEvent.Bumped|block": "bumped",
-  "TouchSensorEvent.Pressed|block": "pressed",
-  "TouchSensorEvent.Released|block": "released",
-  "UltrasonicSensorEvent.ObjectDetected|block": "object detected",
-  "UltrasonicSensorEvent.ObjectNear|block": "object near",
-  "brick.Button.isPressed|block": "%button|is pressed",
-  "brick.Button.onEvent|block": "on %button|%event",
-  "brick.Button.wasPressed|block": "%button|was pressed",
-  "brick.buttonDown|block": "button down",
-  "brick.buttonEnter|block": "button enter",
-  "brick.buttonLeft|block": "button left",
-  "brick.buttonRight|block": "button right",
-  "brick.buttonUp|block": "button up",
-  "brick.pattern|block": "%pattern",
-  "brick.print|block": "print %text| at x: %x| y: %y",
-  "brick.setPixel|block": "set pixel %on| at x: %x| y: %y",
-  "brick.setStatusLight|block": "set status light %pattern=led_pattern",
+  "brick.Button.isPressed|block": "`icons.brickButtons` %button|is pressed",
+  "brick.Button.onEvent|block": "on `icons.brickButtons` %button|%event",
+  "brick.Button.pauseUntil|block": "pause until `icons.brickButtons` %button|%event",
+  "brick.Button.wasPressed|block": "`icons.brickButtons` %button|was pressed",
+  "brick._imagePicker|block": "%image",
+  "brick.buttonDown|block": "down",
+  "brick.buttonEnter|block": "enter",
+  "brick.buttonLeft|block": "left",
+  "brick.buttonRight|block": "right",
+  "brick.buttonUp|block": "up",
+  "brick.clearScreen|block": "`icons.brickDisplay` clear screen",
+  "brick.lightPattern|block": "%pattern",
+  "brick.print|block": "`icons.brickDisplay` print %text| at x: %x| y: %y",
+  "brick.setPixel|block": "`icons.brickDisplay` set pixel %on| at x: %x| y: %y",
+  "brick.setStatusLight|block": "set `icons.brickButtons` to %pattern=led_pattern",
+  "brick.showImage|block": "`icons.brickDisplay` show image %image=screen_image_picker",
   "brick|block": "brick",
+  "console.logValue|block": "console|log value %name|= %value",
+  "console.log|block": "console|log %text",
+  "console.sendToScreen|block": "send console to screen",
+  "console|block": "console",
   "control.raiseEvent|block": "raise event|from %src|with value %value",
   "control|block": "control",
-  "motors.Motor.count|block": "%motor|count",
-  "motors.Motor.move|block": "move %motor|by %angle|degrees at %power|%",
-  "motors.Motor.power|block": "power %motor|to %power|%",
-  "motors.Motor.setBrake|block": "set %motor|brake %brake",
-  "motors.Motor.setReversed|block": "set %motor|reversed %reversed",
+  "motors.Motor.angle|block": "%motor|angle",
   "motors.Motor.speed|block": "%motor|speed",
-  "motors.Motor.stop|block": "stop %motor",
-  "motors.Motor.tachoCount|block": "%motor|tacho count",
-  "motors.largeMotorA|block": "large motor A",
-  "motors.largeMotorB|block": "large motor B",
-  "motors.largeMotorC|block": "large motor C",
-  "motors.largeMotorD|block": "large motor D",
-  "motors.mediumMotorA|block": "medium motor A",
-  "motors.mediumMotorB|block": "medium motor B",
-  "motors.mediumMotorC|block": "medium motor C",
-  "motors.mediumMotorD|block": "medium motor D",
+  "motors.MotorBase.move|block": "move %motor|for %value|%unit|at %speed|%",
+  "motors.MotorBase.pauseUntilReady|block": "%motor|pause until ready",
+  "motors.MotorBase.setBrake|block": "set %motor|brake %brake",
+  "motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
+  "motors.MotorBase.setSpeed|block": "set speed of %motor|to %speed|%",
+  "motors.SynchedMotorPair.steer|block": "steer %chassis|%steering|%|at speed %speed|%|by %value|%unit",
+  "motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit",
+  "motors.largeAB|block": "large A+B",
+  "motors.largeAD|block": "large A+D",
+  "motors.largeA|block": "large A",
+  "motors.largeBC|block": "large B+C",
+  "motors.largeB|block": "large B",
+  "motors.largeCD|block": "large C+D",
+  "motors.largeC|block": "large C",
+  "motors.largeD|block": "large D",
+  "motors.mediumA|block": "medium A",
+  "motors.mediumB|block": "medium B",
+  "motors.mediumC|block": "medium C",
+  "motors.mediumD|block": "medium D",
   "motors.stopAllMotors|block": "stop all motors",
   "motors|block": "motors",
   "output|block": "output",
   "screen|block": "screen",
-  "sensors.ColorSensor.ambientLight|block": "%color| ambient light",
-  "sensors.ColorSensor.color|block": "%color| color",
-  "sensors.ColorSensor.onColorDetected|block": "on %sensor|detected %color",
-  "sensors.ColorSensor.reflectedLight|block": "%color| reflected light",
-  "sensors.GyroSensor.angle|block": "%sensor|angle",
-  "sensors.GyroSensor.rate|block": "%sensor|rotation rate",
-  "sensors.InfraredSensor.on|block": "on %sensor|%event",
-  "sensors.InfraredSensor.proximity|block": "%infrared|proximity",
-  "sensors.InfraredSensor.remoteCommand|block": "%infrared|remote command",
-  "sensors.InfraredSensor.wait|block": "wait %sensor|for %event",
-  "sensors.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed",
-  "sensors.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event",
-  "sensors.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed",
-  "sensors.TouchSensor.isTouched|block": "%sensor|is touched",
-  "sensors.TouchSensor.onEvent|block": "on %sensor|%event",
-  "sensors.UltraSonicSensor.distance|block": "%sensor|distance",
-  "sensors.UltraSonicSensor.on|block": "on %sensor|%event",
-  "sensors.UltraSonicSensor.wait|block": "wait %sensor|for %event",
-  "sensors.color1|block": "color sensor 1",
-  "sensors.color2|block": "color sensor 2",
-  "sensors.color3|block": "color sensor 3",
-  "sensors.color4|block": "color sensor 4",
-  "sensors.gyro1|block": "gyro sensor 1",
-  "sensors.gyro2|block": "gyro sensor 2",
-  "sensors.gyro3|block": "gyro sensor 3",
-  "sensors.gyro4|block": "gyro sensor 4",
-  "sensors.infraredSensor1|block": "infrared sensor 1",
-  "sensors.infraredSensor2|block": "infrared sensor 2",
-  "sensors.infraredSensor3|block": "infrared sensor 3",
-  "sensors.infraredSensor4|block": "infrared sensor 4",
-  "sensors.remoteButtonBottomLeft|block": "remote button bottom-left",
-  "sensors.remoteButtonBottomRight|block": "remote button bottom-right",
-  "sensors.remoteButtonCenter|block": "remote button center",
-  "sensors.remoteButtonTopLeft|block": "remote button top-left",
-  "sensors.remoteButtonTopRight|block": "remote button top-right",
-  "sensors.touchSensor1|block": "touch sensor 1",
-  "sensors.touchSensor2|block": "touch sensor 2",
-  "sensors.touchSensor3|block": "touch sensor 3",
-  "sensors.touchSensor4|block": "touch sensor 4",
-  "sensors.ultrasonic1|block": "ultrasonic sensor 1",
-  "sensors.ultrasonic2|block": "ultrasonic sensor 2",
-  "sensors.ultrasonic3|block": "ultrasonic sensor 3",
-  "sensors.ultrasonic4|block": "ultrasonic sensor 4",
   "sensors|block": "sensors",
   "serial|block": "serial",
   "{id:category}Brick": "Brick",
+  "{id:category}Console": "Console",
   "{id:category}Control": "Control",
   "{id:category}Image": "Image",
   "{id:category}Images": "Images",
@@ -120,16 +83,11 @@
   "{id:category}Motors": "Motors",
   "{id:category}Output": "Output",
   "{id:category}Screen": "Screen",
-  "{id:category}Sensors": "Sensors",
   "{id:category}Serial": "Serial",
   "{id:group}Buttons": "Buttons",
-  "{id:group}Color Sensor": "Color Sensor",
-  "{id:group}Gyro Sensor": "Gyro Sensor",
-  "{id:group}Infrared Sensor": "Infrared Sensor",
+  "{id:group}Chassis": "Chassis",
   "{id:group}Light": "Light",
-  "{id:group}Motors": "Motors",
-  "{id:group}Remote Infrared Beacon": "Remote Infrared Beacon",
+  "{id:group}Motion": "Motion",
   "{id:group}Screen": "Screen",
-  "{id:group}Touch Sensor": "Touch Sensor",
-  "{id:group}Ultrasonic Sensor": "Ultrasonic Sensor"
+  "{id:group}Sensors": "Sensors"
 }

libs/core/buttons.ts

@@ -4,34 +4,34 @@
  */
 const enum LightsPattern {
     //% block=Off enumval=0
-    //% blockIdentity=output.pattern
+    //% blockIdentity=brick.lightPattern
     Off = 0,
     //% block=Green enumval=1
-    //% blockIdentity=output.pattern
+    //% blockIdentity=brick.lightPattern
     Green = 1,
     //% block=Red enumval=2
-    //% blockIdentity=output.pattern
+    //% blockIdentity=brick.lightPattern
     Red = 2,
     //% block=Orange enumval=3
-    //% blockIdentity=output.pattern
+    //% blockIdentity=brick.lightPattern
     Orange = 3,
     //% block="Flashing Green" enumval=4
-    //% blockIdentity=output.pattern
+    //% blockIdentity=brick.lightPattern
     GreenFlash = 4,
     //% block="Flashing Red" enumval=5
-    //% blockIdentity=output.pattern
+    //% blockIdentity=brick.lightPattern
     RedFlash = 5,
     //% block="Flashing Orange" enumval=6
-    //% blockIdentity=output.pattern
+    //% blockIdentity=brick.lightPattern
     OrangeFlash = 6,
     //% block="Pulsing Green" enumval=7
-    //% blockIdentity=output.pattern
+    //% blockIdentity=brick.lightPattern
     GreenPulse = 7,
     //% block="Pulsing Red" enumval=8
-    //% blockIdentity=output.pattern
+    //% blockIdentity=brick.lightPattern
     RedPulse = 8,
     //% block="Pulsing Orange" enumval=9
-    //% blockIdentity=output.pattern
+    //% blockIdentity=brick.lightPattern
     OrangePulse = 9,
 }
 
@@ -69,13 +69,14 @@ namespace brick {
             if (this._isPressed == curr) return
             this._isPressed = curr
             if (curr) {
+                this._wasPressed = true;
                 this.downTime = control.millis()
                 control.raiseEvent(this._id, ButtonEvent.Down)
             } else {
                 control.raiseEvent(this._id, ButtonEvent.Up)
-                let delta = control.millis() - this.downTime
-                control.raiseEvent(this._id, ButtonEvent.Click)
-                //control.raiseEvent(this._id, delta > 500 ? ButtonEvent.LongClick : ButtonEvent.Click)
+                const delta = control.millis() - this.downTime;
+                if (delta < 500)
+                    control.raiseEvent(this._id, ButtonEvent.Click)
             }
         }
 
@@ -84,7 +85,7 @@ namespace brick {
          * @param button the button to query the request
          */
         //% help=input/button/is-pressed
-        //% block="%button|is pressed"
+        //% block="`icons.brickButtons` %button|is pressed"
         //% blockId=buttonIsPressed
         //% parts="brick"
         //% blockNamespace=brick
@@ -99,7 +100,7 @@ namespace brick {
          * @param button the button to query the request
          */
         //% help=input/button/was-pressed
-        //% block="%button|was pressed"
+        //% block="`icons.brickButtons` %button|was pressed"
         //% blockId=buttonWasPressed
         //% parts="brick"
         //% blockNamespace=brick
@@ -118,7 +119,7 @@ namespace brick {
          * @param body code to run when the event is raised
          */
         //% help=input/button/on-event
-        //% blockId=buttonEvent block="on %button|%event"
+        //% blockId=buttonEvent block="on `icons.brickButtons` %button|%event"
         //% parts="brick"
         //% blockNamespace=brick
         //% weight=99 blockGap=8
@@ -126,6 +127,20 @@ namespace brick {
         onEvent(ev: ButtonEvent, body: () => void) {
             control.onEvent(this._id, ev, body)
         }
+
+        /**
+         * Waits until the event is raised
+         * @param ev the event to wait for
+         */
+        //% help=input/button/pause-until
+        //% blockId=buttonWaitUntil block="pause until `icons.brickButtons` %button|%event"
+        //% parts="brick"
+        //% blockNamespace=brick
+        //% weight=98 blockGap=8
+        //% group="Buttons"
+        pauseUntil(ev: ButtonEvent) {
+            control.waitForEvent(this._id, ev);
+        }
     }
 }
 
@@ -180,31 +195,31 @@ namespace brick {
     /**
      * Enter button on the EV3 Brick.
      */
-    //% whenUsed block="button enter" weight=95 fixedInstance
+    //% whenUsed block="enter" weight=95 fixedInstance
     export const buttonEnter: Button = new DevButton(DAL.BUTTON_ID_ENTER)
 
     /**
      * Left button on the EV3 Brick.
      */
-    //% whenUsed block="button left" weight=95 fixedInstance
+    //% whenUsed block="left" weight=95 fixedInstance
     export const buttonLeft: Button = new DevButton(DAL.BUTTON_ID_LEFT)
 
     /**
      * Right button on the EV3 Brick.
      */
-    //% whenUsed block="button right" weight=94 fixedInstance
+    //% whenUsed block="right" weight=94 fixedInstance
     export const buttonRight: Button = new DevButton(DAL.BUTTON_ID_RIGHT)
 
     /**
      * Up button on the EV3 Brick.
      */
-    //% whenUsed block="button up" weight=95 fixedInstance
+    //% whenUsed block="up" weight=95 fixedInstance
     export const buttonUp: Button = new DevButton(DAL.BUTTON_ID_UP)
 
     /**
      * Down button on the EV3 Brick.
      */
-    //% whenUsed block="button down" weight=95 fixedInstance
+    //% whenUsed block="down" weight=95 fixedInstance
     export const buttonDown: Button = new DevButton(DAL.BUTTON_ID_DOWN)
 }
 
@@ -233,7 +248,7 @@ namespace brick {
      * Set lights.
      * @param pattern the lights pattern to use.
      */
-    //% blockId=setLights block="set status light %pattern=led_pattern"
+    //% blockId=setLights block="set `icons.brickButtons` to %pattern=led_pattern"
     //% weight=100 group="Light"
     export function setStatusLight(pattern: number): void {
         if (currPattern === pattern)
@@ -252,7 +267,7 @@ namespace brick {
     //% blockId=led_pattern block="%pattern"
     //% shim=TD_ID colorSecondary="#6e9a36" group="Light"
     //% blockHidden=true useEnumVal=1 pattern.fieldOptions.decompileLiterals=1
-    export function pattern(pattern: LightsPattern): number {
+    export function lightPattern(pattern: LightsPattern): number {
         return pattern;
     }
 }

libs/core/color.ts

@@ -1,135 +0,0 @@
-const enum ColorSensorMode {
-    None = -1,
-    Reflect = 0,
-    Ambient = 1,
-    Color = 2,
-    RefRaw = 3,
-    RgbRaw = 4,
-    ColorCal = 5,
-}
-
-const enum ColorSensorColor {
-    //% block="none"
-    None,
-    //% block="black"
-    Black,
-    //% block="blue"
-    Blue,
-    //% block="green"
-    Green,
-    //% block="yellow"
-    Yellow,
-    //% block="red"
-    Red,
-    //% block="white"
-    White,
-    //% block="brown"
-    Brown,
-}
-
-namespace sensors {
-
-    //% fixedInstances
-    export class ColorSensor extends internal.UartSensor {
-        constructor(port: number) {
-            super(port)
-        }
-
-        _deviceType() {
-            return DAL.DEVICE_TYPE_COLOR
-        }
-
-        setMode(m: ColorSensorMode) {
-            this._setMode(m)
-        }
-
-        _query() {
-            if (this.mode == ColorSensorMode.Color)
-                return this.getNumber(NumberFormat.UInt8LE, 0)
-            return 0
-        }
-
-        _update(prev: number, curr: number) {
-            control.raiseEvent(this._id, curr);
-        }
-
-        /**
-         * Registers code to run when the given color is detected
-         * @param color the color to dtect
-         * @param handler the code to run when detected
-         */
-        //% help=input/color/on-color-detected
-        //% block="on %sensor|detected %color"
-        //% blockId=colorOnColorDetected
-        //% parts="colorsensor"
-        //% blockNamespace=sensors
-        //% weight=100 blockGap=8
-        //% group="Color Sensor"
-        onColorDetected(color: ColorSensorColor, handler: () => void) {
-            control.onEvent(this._id, <number>color, handler);
-            this.setMode(ColorSensorMode.Color)
-            if (this.color() == color)
-                control.runInBackground(handler)
-        }
-
-        /**
-         * Get current ambient light value from the color sensor.
-         * @param color the color sensor to query the request
-         */
-        //% help=input/color/ambient-light
-        //% block="%color| ambient light"
-        //% blockId=colorGetAmbient
-        //% parts="colorsensor"
-        //% blockNamespace=sensors
-        //% weight=65 blockGap=8
-        //% group="Color Sensor"
-        ambientLight() {
-            this.setMode(ColorSensorMode.Ambient)
-            return this.getNumber(NumberFormat.UInt8LE, 0)
-        }
-
-        /**
-         * Get current reflected light value from the color sensor.
-         * @param color the color sensor to query the request
-         */
-        //% help=input/color/refelected-light
-        //% block="%color| reflected light"
-        //% blockId=colorGetReflected
-        //% parts="colorsensor"
-        //% blockNamespace=sensors
-        //% weight=64 blockGap=8
-        //% group="Color Sensor"
-        reflectedLight(): number {
-            this.setMode(ColorSensorMode.Reflect)
-            return this.getNumber(NumberFormat.UInt8LE, 0)
-        }
-
-        /**
-         * Get the current color from the color sensor.
-         * @param color the color sensor to query the request
-         */
-        //% help=input/color/color
-        //% block="%color| color"
-        //% blockId=colorGetColor
-        //% parts="colorsensor"
-        //% blockNamespace=sensors
-        //% weight=66 blockGap=8
-        //% group="Color Sensor"
-        color(): ColorSensorColor {
-            this.setMode(ColorSensorMode.Color)
-            return this.getNumber(NumberFormat.UInt8LE, 0)
-        }
-    }
-
-    //% whenUsed block="color sensor 3" weight=95 fixedInstance
-    export const color3: ColorSensor = new ColorSensor(3)
-    
-    //% whenUsed block="color sensor 1" weight=95 fixedInstance
-    export const color1: ColorSensor = new ColorSensor(1)
-
-    //% whenUsed block="color sensor 2" weight=95 fixedInstance
-    export const color2: ColorSensor = new ColorSensor(2)
-
-    //% whenUsed block="color sensor 4" weight=95 fixedInstance
-    export const color4: ColorSensor = new ColorSensor(4)
-}

libs/core/console.ts

@@ -0,0 +1,107 @@
+/// <reference no-default-lib="true"/>
+
+/**
+ * Reading and writing data to the console output.
+ */
+//% weight=12 color=#002050 icon="\uf120"
+//% advanced=true
+namespace console {
+    type Listener = (text: string) => void;
+
+    const listeners: Listener[] = [
+        (text: string) => serial.writeLine(text)
+    ];
+
+    /**
+     * Write a line of text to the console output.
+     * @param value to send
+     */
+    //% weight=90
+    //% help=console/log blockGap=8
+    //% blockId=console_log block="console|log %text"
+    export function log(text: string): void {
+        for (let i = 0; i < listeners.length; ++i)
+            listeners[i](text);
+    }
+
+    /**
+     * Write a name:value pair as a line of text to the console output.
+     * @param name name of the value stream, eg: "x"
+     * @param value to write
+     */
+    //% weight=88 blockGap=8
+    //% help=console/log-value
+    //% blockId=console_log_value block="console|log value %name|= %value"
+    export function logValue(name: string, value: number): void {
+        log(`${name}: ${value}`)
+    }
+
+    /**
+     * Adds a listener for the log messages
+     * @param listener 
+     */
+    //%
+    export function addListener(listener: (text: string) => void) {
+        if (!listener) return;
+        listeners.push(listener);
+    }
+
+    /**
+     * Sends the log messages to the brick screen and uses the brick up and down buttons to scroll.
+     */
+    //% blockId=logsendtostreen block="send console to screen"
+    //% weight=1
+    export function sendToScreen(): void {
+        console.screen.attach();
+    }
+}
+
+namespace console.screen {
+    const maxLines = 100;
+    const screenLines = 8;
+    const lineHeight = 12;
+    let lines: string[];
+    let scrollPosition = 0;
+
+    export function attach() {
+        if (!lines) {
+            lines = [];
+            console.addListener(log);
+            brick.buttonUp.onEvent(ButtonEvent.Click, () => scroll(1))
+            brick.buttonDown.onEvent(ButtonEvent.Click, () => scroll(-1))                
+        }
+    }
+
+    function printLog() {
+        brick.clearScreen()
+        if (!lines) return;
+        for (let i = 0; i < screenLines; ++i) {
+            const line = lines[i + scrollPosition];
+            if (line)
+                brick.print(line, 0, 4 + i * lineHeight)
+        }
+    }
+
+    function scroll(pos: number) {
+        if (!pos) return;
+
+        scrollPosition += pos >> 0;
+        if (scrollPosition >= lines.length) scrollPosition = lines.length - 1;
+        if (scrollPosition < 0) scrollPosition = 0;
+        printLog();
+    }
+
+    function log(msg: string): void {    
+        lines.push(msg);
+        if (lines.length + 5 > maxLines) {
+            lines.splice(0, maxLines - lines.length);
+            scrollPosition = Math.min(scrollPosition, lines.length - 1)
+        }
+        // move down scroll once it gets large than the screen
+        if (lines.length > screenLines
+            && lines.length >= scrollPosition + screenLines) {
+            scrollPosition++;
+        }
+        printLog();
+    }
+}

libs/core/core.ts

@@ -10,7 +10,7 @@ namespace control {
             this._id = id
         }
 
-        getId() {
+        id() {
             return this._id;
         }
     }

libs/core/images.ts

@@ -1,260 +1,260 @@
 namespace images {
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsBigSmile = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsHeartLarge = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsHeartSmall = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsMouth1open = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsMouth1shut = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsMouth2open = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsMouth2shut = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsSad = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsSick = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsSmile = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsSwearing = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsTalking = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsWink = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const expressionsZzz = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesAngry = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesAwake = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesBlackEye = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesBottomLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesBottomRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesCrazy1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesCrazy2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesDisappointed = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesDizzy = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesDown = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesEvil = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesHurt = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesKnockedOut = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesLove = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesMiddleLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesMiddleRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesNeutral = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesNuclear = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesPinchLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesPinchMiddle = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesPinchRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesSleeping = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesTear = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesTiredLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesTiredMiddle = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesTiredRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesToxic = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesUp = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const eyesWinking = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationAccept = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationBackward = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationDecline = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationForward = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationNoGo = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationQuestionMark = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationStop1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationStop2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationThumbsDown = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationThumbsUp = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const informationWarning = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoColorSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoEv3icon = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoEv3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoGyroSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoIrBeacon = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoIrSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoLego = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoLargeMotor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoMindstorms = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoMediumMotor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoSoundSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoTempSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoTouchSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const legoUsSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsBomb = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsBoom = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsFire = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsFlowers = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsForest = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsLightOff = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsLightOn = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsLightning = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsNight = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsPirate = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsSnow = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const objectsTarget = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressBar0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressBar1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressBar2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressBar3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressBar4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDial0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDial1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDial2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDial3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDial4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDots0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDots1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDots2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressDots3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressHourglass0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressHourglass1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressHourglass2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressTimer0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressTimer1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressTimer2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressTimer3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressTimer4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressWaterLevel0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressWaterLevel1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressWaterLevel2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const progressWaterLevel3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemAccept1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemAccept2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemAlert = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemBox = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemBusy0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemBusy1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemDecline1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemDecline2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemDotEmpty = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemDotFull = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemEv3small = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemPlay = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider5 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider6 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider7 = screen.unpackPNG(hex``);
-    //% fixedInstance jres
+    //% fixedInstance jres blockIdentity=brick._imagePicker
     export const systemSlider8 = screen.unpackPNG(hex``);
 }

libs/core/input.cpp

@@ -0,0 +1,11 @@
+#include "pxt.h"
+
+namespace sensors {
+
+/**
+ *  Mark a sensor as used
+ */
+//%
+void __sensorUsed(int port, int type) {
+}
+}

libs/core/input.ts

@@ -13,6 +13,7 @@ namespace sensors.internal {
 
         control.runInBackground(() => {
             let prev = query()
+            changeHandler(prev, prev)
             while (true) {
                 loops.pause(periodMs)
                 let curr = query()
@@ -132,26 +133,31 @@ namespace sensors.internal {
     }
 
     export class Sensor extends control.Component {
-        protected port: number // this is 0-based
+        protected _port: number // this is 0-based
 
         constructor(port_: number) {
             super()
             if (!(1 <= port_ && port_ <= DAL.NUM_INPUTS))
                 control.panic(120)
-            this.port = port_ - 1
+            this._port = port_ - 1
             init()
-            sensorInfos[this.port].sensors.push(this)
+            sensorInfos[this._port].sensors.push(this)
+            this.markUsed();
+        }
+
+        markUsed() {
+            sensors.__sensorUsed(this._port, this._deviceType());
         }
 
         _activated() { }
 
         // 1-based
-        getPort() {
-            return this.port + 1
+        port() {
+            return this._port + 1
         }
 
         isActive() {
-            return sensorInfos[this.port].sensor == this
+            return sensorInfos[this._port].sensor == this
         }
 
         _query() {
@@ -173,11 +179,85 @@ namespace sensors.internal {
 
         _readPin6() {
             if (!this.isActive()) return 0
-            return analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.InPin6 + 2 * this.port)
+            return analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.InPin6 + 2 * this._port)
         }
     }
 
+    export enum ThresholdState {
+        Normal = 1,
+        High = 2,
+        Low = 3,
+    }
 
+    export class ThresholdDetector {
+        public id: number;
+        private min: number;
+        private max: number;
+        private lowThreshold: number;
+        private highThreshold: number;
+        private level: number;
+        public state: ThresholdState;
+
+        constructor(id: number, min = 0, max = 100, lowThreshold = 20, highThreshold = 80) {
+            this.id = id;
+            this.min = min;
+            this.max = max;
+            this.lowThreshold = lowThreshold;
+            this.highThreshold = highThreshold;
+            this.level = Math.ceil((max - min) / 2);
+            this.state = ThresholdState.Normal;
+        }
+
+        public setLevel(level: number) {
+            this.level = this.clampValue(level);
+
+            if (this.level >= this.highThreshold) {
+                this.setState(ThresholdState.High);
+            }
+            else if (this.level <= this.lowThreshold) {
+                this.setState(ThresholdState.Low);
+            }
+            else {
+                this.setState(ThresholdState.Normal);
+            }
+        }
+
+        public setLowThreshold(value: number) {
+            this.lowThreshold = this.clampValue(value);
+            this.highThreshold = Math.max(this.lowThreshold + 1, this.highThreshold);
+        }
+
+        public setHighThreshold(value: number) {
+            this.highThreshold = this.clampValue(value);
+            this.lowThreshold = Math.min(this.highThreshold - 1, this.lowThreshold);
+        }
+
+        private clampValue(value: number) {
+            if (value < this.min) {
+                return this.min;
+            }
+            else if (value > this.max) {
+                return this.max;
+            }
+            return value;
+        }
+
+        private setState(state: ThresholdState) {
+            if (this.state == state) return;
+
+            this.state = state;
+            switch (state) {
+                case ThresholdState.High:
+                    control.raiseEvent(this.id, ThresholdState.High);
+                    break;
+                case ThresholdState.Low:
+                    control.raiseEvent(this.id, ThresholdState.Low);
+                    break;
+                case ThresholdState.Normal:
+                    break;
+            }
+        }
+    }
 
     export class UartSensor extends Sensor {
         protected mode: number // the mode user asked for
@@ -202,18 +282,18 @@ namespace sensors.internal {
             if (!this.isActive()) return
             if (this.realmode != this.mode) {
                 this.realmode = v
-                setUartMode(this.port, v)
+                setUartMode(this._port, v)
             }
         }
 
         getBytes(): Buffer {
-            return getUartBytes(this.isActive() ? this.port : -1)
+            return getUartBytes(this.isActive() ? this._port : -1)
         }
 
         getNumber(fmt: NumberFormat, off: number) {
             if (!this.isActive())
                 return 0
-            return getUartNumber(fmt, off, this.port)
+            return getUartNumber(fmt, off, this._port)
         }
     }
 

libs/core/linux.cpp

@@ -6,7 +6,6 @@
 #include <time.h>
 #include <cstdarg>
 #include <pthread.h>
-#include <assert.h>
 #include <unistd.h>
 #include <dirent.h>
 #include <signal.h>
@@ -14,12 +13,35 @@
 #include <sys/stat.h>
 #include <errno.h>
 #include <fcntl.h>
+#include <malloc.h>
+
+#define THREAD_DBG(...)
+
+#define MALLOC_LIMIT (8 * 1024 * 1024)
+#define MALLOC_CHECK_PERIOD (1024 * 1024)
+
+void *xmalloc(size_t sz) {
+    static size_t allocBytes = 0;
+    allocBytes += sz;
+    if (allocBytes >= MALLOC_CHECK_PERIOD) {
+        allocBytes = 0;
+        auto info = mallinfo();
+        DMESG("malloc used: %d kb", info.uordblks / 1024);
+        if (info.uordblks > MALLOC_LIMIT) {
+            target_panic(904);
+        }
+    }
+    auto r = malloc(sz);
+    if (r == NULL)
+        target_panic(905); // shouldn't happen
+    return r;
+}
 
 void *operator new(size_t size) {
-    return malloc(size);
+    return xmalloc(size);
 }
 void *operator new[](size_t size) {
-    return malloc(size);
+    return xmalloc(size);
 }
 
 void operator delete(void *p) {
@@ -199,10 +221,6 @@ int current_time_ms() {
     return currTime() - startTime;
 }
 
-int getSerialNumber() {
-    return 42; // TODO
-}
-
 void disposeThread(Thread *t) {
     if (allThreads == t) {
         allThreads = t->next;
@@ -229,6 +247,8 @@ static void runAct(Thread *thr) {
     disposeThread(thr);
 }
 
+static void mainThread(Thread *) {}
+
 void setupThread(Action a, TValue arg = 0, void (*runner)(Thread *) = NULL, TValue d0 = 0,
                  TValue d1 = 0) {
     if (runner == NULL)
@@ -242,8 +262,13 @@ void setupThread(Action a, TValue arg = 0, void (*runner)(Thread *) = NULL, TVal
     thr->data0 = incr(d0);
     thr->data1 = incr(d1);
     pthread_cond_init(&thr->waitCond, NULL);
-    pthread_create(&thr->pid, NULL, (void *(*)(void *))runner, thr);
-    pthread_detach(thr->pid);
+    if (runner == mainThread) {
+        thr->pid = pthread_self();
+    } else {
+        pthread_create(&thr->pid, NULL, (void *(*)(void *))runner, thr);
+        THREAD_DBG("setup thread: %p (pid %p)", thr, thr->pid);
+        pthread_detach(thr->pid);
+    }
 }
 
 void runInBackground(Action a) {
@@ -263,8 +288,10 @@ void runForever(Action a) {
 }
 
 void waitForEvent(int source, int value) {
+    THREAD_DBG("waitForEv: %d %d", source, value);
     auto self = pthread_self();
     for (auto t = allThreads; t; t = t->next) {
+        THREAD_DBG("t: %p", t);
         if (t->pid == self) {
             pthread_mutex_lock(&eventMutex);
             t->waitSource = source;
@@ -279,7 +306,8 @@ void waitForEvent(int source, int value) {
             return;
         }
     }
-    assert(0);
+    DMESG("current thread not registered!");
+    target_panic(901);
 }
 
 static void dispatchEvent(Event &e) {
@@ -342,7 +370,8 @@ void raiseEvent(int id, int event) {
     auto e = mkEvent(id, event);
     pthread_mutex_lock(&eventMutex);
     if (eventTail == NULL) {
-        assert(eventHead == NULL);
+        if (eventHead != NULL)
+            target_panic(902);
         eventHead = eventTail = e;
     } else {
         eventTail->next = e;
@@ -364,6 +393,10 @@ static void runPoller(Thread *thr) {
     // note that this is run without the user mutex held - it should not modify any state!
     TValue prev = pxt::runAction0(query);
 
+    startUser();
+    pxt::runAction2(thr->act, prev, prev);
+    stopUser();
+
     while (true) {
         sleep_core_us(us);
         if (paniced)
@@ -467,6 +500,7 @@ void initRuntime() {
     pthread_t disp;
     pthread_create(&disp, NULL, evtDispatcher, NULL);
     pthread_detach(disp);
+    setupThread(0, 0, mainThread);
     target_init();
     screen_init();
     startUser();
@@ -508,4 +542,4 @@ void dmesg(const char *format, ...) {
     fflush(dmesgFile);
     fdatasync(fileno(dmesgFile));
 }
-}
+} // namespace pxt

libs/core/ns.ts

@@ -1,9 +1 @@
-//% weight=100
-namespace brick {
 
-}
-
-//% color="#B4009E" weight=98 icon="\uf192"
-//% groups='["Ultrasonic Sensor", "Touch Sensor", "Color Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
-namespace sensors {
-}

libs/core/output.cpp

@@ -20,3 +20,13 @@ void target_init() {
 }
 
 }
+
+namespace motors {
+
+/**
+ *  Mark a motor as used
+ */
+//%
+void __motorUsed(int port, bool large) {
+}
+}

libs/core/output.ts

@@ -7,6 +7,14 @@ enum Output {
     C = 0x04,
     //% block="D"
     D = 0x08,
+    //% block="B+C"
+    BC = Output.B | Output.C,
+    //% block="A+B"
+    AB = Output.A | Output.B,
+    //% block="C+D"
+    CD = Output.C | Output.D,
+    //% block="A+D"
+    AD = Output.B | Output.C,
     //% block="All"
     ALL = 0x0f
 }
@@ -17,6 +25,15 @@ enum OutputType {
     MiniTacho = 8,
 }
 
+enum MoveUnit {
+    //% block="rotations"
+    Rotations,
+    //% block="degrees"
+    Degrees,
+    //% block="milliseconds"
+    MilliSeconds
+}
+
 namespace motors {
     let pwmMM: MMap
     let motorMM: MMap
@@ -34,123 +51,121 @@ namespace motors {
         pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
         if (!pwmMM) control.fail("no PWM file")
         motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
+        if (!motorMM) control.fail("no motor file")
 
-        resetMotors()
+        resetAllMotors()
 
-        let buf = output.createBuffer(1)
+        const buf = output.createBuffer(1)
         buf[0] = DAL.opProgramStart
         writePWM(buf)
     }
 
-    function writePWM(buf: Buffer): void {
+    /**
+     * Sends a command to the motors device
+     * @param buf the command buffer
+     */
+    //%
+    export function writePWM(buf: Buffer): void {
         init()
         pwmMM.write(buf)
     }
 
-    function readPWM(buf: Buffer): void {
+    /**
+     * Sends and receives a message from the motors device
+     * @param buf message buffer
+     */
+    //%
+    export function readPWM(buf: Buffer): number {
         init()
-        pwmMM.read(buf);
+        return pwmMM.read(buf);
     }
 
-    function mkCmd(out: Output, cmd: number, addSize: number) {
+    /**
+     * Allocates a message buffer
+     * @param out ports
+     * @param cmd command id
+     * @param addSize required additional bytes
+     */
+    //%
+    export function mkCmd(out: Output, cmd: number, addSize: number) {
         const b = output.createBuffer(2 + addSize)
         b.setNumber(NumberFormat.UInt8LE, 0, cmd)
         b.setNumber(NumberFormat.UInt8LE, 1, out)
         return b
     }
 
-    function resetMotors() {
-        reset(Output.ALL)
+    function outputToName(out: Output): string {
+        let r = "";
+        for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+            if (out & (1 << i)) {
+                if (r.length > 0) r += "+";
+                r += "ABCD"[i];
+            }
+        }
+        return r;
     }
 
     /**
      * Stops all motors
      */
     //% blockId=motorStopAll block="stop all motors"
-    //% weight=10 group="Motors" blockGap=8
+    //% weight=97
+    //% group="Motion"
     export function stopAllMotors() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
         writePWM(b)
     }
 
-    //% fixedInstances
-    export class Motor extends control.Component {
-        private port: Output;
-        private large: boolean;
-        private brake: boolean;
+    /**
+     * Resets all motors
+     */
+    //% group="Motion"
+    export function resetAllMotors() {
+        reset(Output.ALL)
+    }
 
-        constructor(port: Output, large: boolean) {
+    //% fixedInstances
+    export class MotorBase extends control.Component {
+        protected _port: Output;
+        protected _portName: string;
+        protected _brake: boolean;
+        private _initialized: boolean;
+        private _init: () => void;
+        private _setSpeed: (speed: number) => void;
+        private _move: (steps: boolean, stepsOrTime: number, speed: number) => void;
+
+        constructor(port: Output, init: () => void, setSpeed: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
             super();
-            this.port = port;
-            this.large = large;
-            this.brake = false;
+            this._port = port;
+            this._portName = outputToName(this._port);
+            this._brake = false;
+            this._initialized = false;
+            this._init = init;
+            this._setSpeed = setSpeed;
+            this._move = move;
         }
 
         /**
-         * Sets the motor power level from ``-100`` to ``100``.
-         * @param motor the output connection that the motor is connected to
-         * @param power the power from ``100`` full forward to ``-100`` full backward, eg: 50
+         * Lazy initialization code
          */
-        //% blockId=motorSetPower block="power %motor|to %power|%"
-        //% weight=99 group="Motors" blockGap=8
-        //% power.min=-100 power.max=100
-        power(power: number) {
-            power = Math.clamp(-100, 100, power >> 0);
-
-            const b = mkCmd(this.port, DAL.opOutputPower, 1)
-            b.setNumber(NumberFormat.Int8LE, 2, power)
-            writePWM(b)
-            if (power) {
-                const b = mkCmd(this.port, DAL.opOutputStart, 0)
-                writePWM(b);
-            } else {
-                this.stop();
+        protected init() {
+            if (!this._initialized) {
+                this._initialized = true;
+                this._init();
             }
         }
 
-        /**
-         * Moves the motor by a number of degrees
-         * @param degrees the angle to turn the motor
-         * @param angle the degrees to rotate, eg: 360
-         * @param power the power from ``100`` full forward to ``-100`` full backward, eg: 50
-         */
-        //% blockId=motorMove block="move %motor|by %angle|degrees at %power|%"
-        //% weight=98 group="Motors" blockGap=8
-        //% power.min=-100 power.max=100
-        move(angle: number, power: number) {
-            angle = angle >> 0;
-            power = Math.clamp(-100, 100, power >> 0);
-
-            step(this.port, {
-                speed: power,
-                step1: 0,
-                step2: angle,
-                step3: 0,
-                useSteps: true,
-                useBrake: this.brake
-            })
-        }
-
-        /**
-         * Stops the motor
-         */
-        //% blockId=motorStop block="stop %motor"
-        //% weight=97 group="Motors"
-        stop() {
-            const b = mkCmd(this.port, DAL.opOutputStop, 1)
-            b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
-            writePWM(b);
-    }
-
         /**
          * Sets the automatic brake on or off when the motor is off
          * @param brake a value indicating if the motor should break when off
          */
         //% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake"
         //% brake.fieldEditor=toggleonoff
-        //% weight=60 group="Motors" blockGap=8
+        //% weight=60 blockGap=8
+        //% group="Motion"
         setBrake(brake: boolean) {
-            this.brake = brake;
+            this.init();
+            this._brake = brake;
         }
 
         /** 
@@ -158,87 +173,360 @@ namespace motors {
         */
         //% blockId=motorSetReversed block="set %motor|reversed %reversed"
         //% reversed.fieldEditor=toggleonoff
-        //% weight=59 group="Motors"
+        //% weight=59
+        //% group="Motion"
         setReversed(reversed: boolean) {
-            const b = mkCmd(this.port, DAL.opOutputPolarity, 1)
-            b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1);
+            this.init();
+            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
+            b.setNumber(NumberFormat.Int8LE, 2, reversed ? 0 : 1);
             writePWM(b)
         }
 
+        /**
+         * Stops the motor(s).
+         */
+        //%
+        stop() {
+            this.init();
+            stop(this._port, this._brake);
+        }
+
+        /**
+         * Resets the motor(s).
+         */
+        //%
+        reset() {
+            this.init();
+            reset(this._port);
+        }
+
+        /**
+         * Sets the speed of the motor.
+         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
+         */
+        //% blockId=motorSetSpeed block="set speed of %motor|to %speed|%"
+        //% on.fieldEditor=toggleonoff
+        //% weight=99 blockGap=8
+        //% speed.min=-100 speed.max=100
+        //% group="Motion"
+        setSpeed(speed: number) {
+            this.init();
+            speed = Math.clamp(-100, 100, speed >> 0);
+            if (!speed) // always stop
+                this.stop();
+            else
+                this._setSpeed(speed);
+        }
+
+        /**
+         * Moves the motor by a number of rotations, degress or seconds
+         * @param value the move quantity, eg: 2
+         * @param unit the meaning of the value
+         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
+         */
+        //% blockId=motorMove block="move %motor|for %value|%unit|at %speed|%"
+        //% weight=98 blockGap=8
+        //% speed.min=-100 speed.max=100    
+        //% group="Motion"
+        move(value: number, unit: MoveUnit, speed: number) {
+            this.init();
+            speed = Math.clamp(-100, 100, speed >> 0);
+            if (!speed) {
+                this.stop();
+                return;
+            }
+            let useSteps: boolean;
+            let stepsOrTime: number;
+            switch (unit) {
+                case MoveUnit.Rotations:
+                    stepsOrTime = (value * 360) >> 0;
+                    useSteps = true;
+                    break;
+                case MoveUnit.Degrees:
+                    stepsOrTime = value >> 0;
+                    useSteps = true;
+                    break;
+                default:
+                    stepsOrTime = value;
+                    useSteps = false;
+                    break;
+            }
+
+            this._move(useSteps, stepsOrTime, speed);
+        }
+
+        /**
+         * Returns a value indicating if the motor is still running a previous command.
+         */
+        //%
+        isReady(): boolean {
+            this.init();
+            const r = readPWM(mkCmd(this._port, DAL.opOutputTest, 0))
+            // 0 = ready, 1 = busy
+            return r == 0;
+        }
+
+        /**
+         * Pauses the execution until the previous command finished.
+         * @param timeOut optional maximum pausing time in milliseconds
+         */
+        //% blockId=motorPauseUntilRead block="%motor|pause until ready"
+        //% group="Motion"
+        pauseUntilReady(timeOut?: number) {
+            pauseUntil(() => this.isReady(), timeOut);
+        }
+    }
+
+    //% fixedInstances
+    export class Motor extends MotorBase {
+        private _large: boolean;
+
+        constructor(port: Output, large: boolean) {
+            super(port, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
+            this._large = large;
+            this.markUsed();
+        }
+
+        markUsed() {
+            motors.__motorUsed(this._port, this._large);
+        }
+
+        private __init() {
+            // specify motor size on this port            
+            const b = mkCmd(outOffset(this._port), DAL.opOutputSetType, 1)
+            b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
+            writePWM(b)
+        }
+
+        private __setSpeed(speed: number) {
+            const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
+            b.setNumber(NumberFormat.Int8LE, 2, speed)
+            writePWM(b)
+            if (speed) {
+                writePWM(mkCmd(this._port, DAL.opOutputStart, 0))
+            }
+        }
+
+        private __move(steps: boolean, stepsOrTime: number, speed: number) {
+            step(this._port, {
+                useSteps: steps,
+                step1: 0,
+                step2: stepsOrTime,
+                step3: 0,
+                speed: speed,
+                useBrake: this._brake
+            })
+        }
+
         /**
          * Gets motor actual speed.
          * @param motor the port which connects to the motor
          */
         //% blockId=motorSpeed block="%motor|speed"
-        //% weight=72 group="Motors" blockGap=8
+        //% weight=72 blockGap=8
+        //% group="Sensors"
         speed(): number {
-            return getMotorData(this.port).actualSpeed;
+            this.init();
+            return getMotorData(this._port).actualSpeed;
         }
 
         /**
-         * Gets motor step count.
+         * Gets motor ration angle.
          * @param motor the port which connects to the motor
          */
-        //% blockId=motorCount block="%motor|count"
-        //% weight=71 group="Motors" blockGap=8
-        count(): number {
-            return getMotorData(this.port).count;
-        }
-
-        /**
-         * Gets motor tacho count.
-         * @param motor the port which connects to the motor
-         */
-        //% blockId=motorTachoCount block="%motor|tacho count"
-        //% weight=70 group="Motors"
-        tachoCount(): number {
-            return getMotorData(this.port).tachoCount;
+        //% blockId=motorTachoCount block="%motor|angle"
+        //% weight=70
+        //% group="Sensors"
+        angle(): number {
+            this.init();
+            return getMotorData(this._port).count;
         }
 
         /**
          * Clears the motor count
          */
+        //% group="Motion"
         clearCount() {
-            const b = mkCmd(this.port, DAL.opOutputClearCount, 0)
+            this.init();
+            const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
             writePWM(b)
             for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
-                if (this.port & (1 << i)) {
+                if (this._port & (1 << i)) {
                     motorMM.setNumber(NumberFormat.Int32LE, i * MotorDataOff.Size + MotorDataOff.TachoSensor, 0)
                 }
             }
         }
 
         /**
-         * Resets the motor.
+         * Returns the status of the motor
          */
-        reset() {
-            reset(this.port);
+        //%
+        toString(): string {
+            return `${this._large ? "" : "M"}${this._portName} ${this.speed()}% ${this.angle()}>`;
         }
     }
 
-    //% whenUsed fixedInstance block="large motor A"
-    export const largeMotorA = new Motor(Output.A, true);
+    //% whenUsed fixedInstance block="large A"
+    export const largeA = new Motor(Output.A, true);
 
-    //% whenUsed fixedInstance block="large motor B"
-    export const largeMotorB = new Motor(Output.B, true);
+    //% whenUsed fixedInstance block="large B"
+    export const largeB = new Motor(Output.B, true);
 
-    //% whenUsed fixedInstance block="large motor C"
-    export const largeMotorC = new Motor(Output.C, true);
+    //% whenUsed fixedInstance block="large C"
+    export const largeC = new Motor(Output.C, true);
 
-    //% whenUsed fixedInstance block="large motor D"
-    export const largeMotorD = new Motor(Output.D, true);
+    //% whenUsed fixedInstance block="large D"
+    export const largeD = new Motor(Output.D, true);
 
-    //% whenUsed fixedInstance block="medium motor A"
-    export const mediumMotorA = new Motor(Output.A, false);
+    //% whenUsed fixedInstance block="medium A"
+    export const mediumA = new Motor(Output.A, false);
 
-    //% whenUsed fixedInstance block="medium motor B"
-    export const mediumMotorB = new Motor(Output.B, false);
+    //% whenUsed fixedInstance block="medium B"
+    export const mediumB = new Motor(Output.B, false);
 
-    //% whenUsed fixedInstance block="medium motor C"
-    export const mediumMotorC = new Motor(Output.C, false);
+    //% whenUsed fixedInstance block="medium C"
+    export const mediumC = new Motor(Output.C, false);
 
-    //% whenUsed fixedInstance block="medium motor D"
-    export const mediumMotorD = new Motor(Output.D, false);
+    //% whenUsed fixedInstance block="medium D"
+    export const mediumD = new Motor(Output.D, false);
+
+    //% fixedInstances
+    export class SynchedMotorPair extends MotorBase {
+
+        constructor(ports: Output) {
+            super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
+            this.markUsed();
+        }
+
+        markUsed() {
+            motors.__motorUsed(this._port, true);
+        }
+
+        private __init() {
+            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                if (this._port & (1 << i)) {
+                    const b = mkCmd(outOffset(1 << i), DAL.opOutputSetType, 1)
+                    b.setNumber(NumberFormat.Int8LE, 2, 0x07) // large motor
+                    writePWM(b)
+                }
+            }
+        }
+
+        private __setSpeed(speed: number) {
+            syncMotors(this._port, {
+                speed: speed,
+                turnRatio: 0,
+                useBrake: !!this._brake
+            })
+        }
+
+        private __move(steps: boolean, stepsOrTime: number, speed: number) {
+            syncMotors(this._port, {
+                useSteps: steps,
+                speed: speed,
+                turnRatio: 100, // same speed
+                stepsOrTime: stepsOrTime,
+                useBrake: this._brake
+            });
+        }
+
+        /**
+         * Turns the motor and the follower motor by a number of rotations
+         * @param value the move quantity, eg: 2
+         * @param unit the meaning of the value
+         * @param steering the ratio of power sent to the follower motor, from ``-100`` to ``100``
+         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
+         */
+        //% blockId=motorPairTurn block="steer %chassis|%steering|%|at speed %speed|%|by %value|%unit"
+        //% weight=9 blockGap=8
+        //% steering.min=-100 steering=100
+        //% inlineInputMode=inline
+        //% group="Chassis"
+        steer(steering: number, speed: number, value: number, unit: MoveUnit) {
+            this.init();
+            speed = Math.clamp(-100, 100, speed >> 0);
+            if (!speed) {
+                stop(this._port, this._brake);
+                return;
+            }
+
+            const turnRatio = Math.clamp(-200, 200, steering + 100 >> 0);
+            let useSteps: boolean;
+            let stepsOrTime: number;
+            switch (unit) {
+                case MoveUnit.Rotations:
+                    stepsOrTime = (value * 360) >> 0;
+                    useSteps = true;
+                    break;
+                case MoveUnit.Degrees:
+                    stepsOrTime = value >> 0;
+                    useSteps = true;
+                    break;
+                default:
+                    stepsOrTime = value;
+                    useSteps = false;
+                    break;
+            }
+
+            syncMotors(this._port, {
+                useSteps: useSteps,
+                speed: speed,
+                turnRatio: turnRatio,
+                stepsOrTime: stepsOrTime,
+                useBrake: this._brake
+            });
+        }
+
+        /**
+         * The Move Tank block can make a robot drive forward, backward, turn, or stop. 
+         * Use the Move Tank block for robot vehicles that have two Large Motors, 
+         * with one motor driving the left side of the vehicle and the other the right side. 
+         * You can make the two motors go at different speeds or in different directions 
+         * to make your robot turn.
+         * @param value the amount of movement, eg: 2
+         * @param unit 
+         * @param speedLeft the speed on the left motor, eg: 50
+         * @param speedRight the speed on the right motor, eg: 50
+         */
+        //% blockId=motorPairTank block="tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit"
+        //% weight=9 blockGap=8
+        //% speedLeft.min=-100 speedLeft=100
+        //% speedRight.min=-100 speedRight=100
+        //% inlineInputMode=inline
+        //% group="Chassis"
+        tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
+            speedLeft = Math.clamp(speedLeft >> 0, -100, 100);
+            speedRight = Math.clamp(speedRight >> 0, -100, 100);
+            const steering = (speedRight * 100 / speedLeft) >> 0;
+            this.steer(speedLeft, steering, value, unit);
+        }
+
+        /**
+         * Returns the name(s) of the motor
+         */
+        //%
+        toString(): string {
+            let r = outputToName(this._port);
+            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                if (this._port & (1 << i)) {
+                    r += ` ${getMotorData(1 << i).actualSpeed}%`
+                }
+            }
+            return r;
+        }
+    }
+
+    //% whenUsed fixedInstance block="large B+C"
+    export const largeBC = new SynchedMotorPair(Output.BC);
+
+    //% whenUsed fixedInstance block="large A+D"
+    export const largeAD = new SynchedMotorPair(Output.AD);
+
+    //% whenUsed fixedInstance block="large A+B"
+    export const largeAB = new SynchedMotorPair(Output.AB);
+
+    //% whenUsed fixedInstance block="large C+D"
+    export const largeCD = new SynchedMotorPair(Output.CD);
 
     function reset(out: Output) {
         let b = mkCmd(out, DAL.opOutputReset, 0)
@@ -261,6 +549,7 @@ namespace motors {
 
     // only a single output at a time
     function getMotorData(out: Output): MotorData {
+        init()
         let buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
         return {
             actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),
@@ -269,6 +558,29 @@ namespace motors {
         }
     }
 
+    interface SyncOptions {
+        useSteps?: boolean;
+        speed: number;
+        turnRatio: number;
+        stepsOrTime?: number;
+        useBrake?: boolean;
+    }
+
+    function syncMotors(out: Output, opts: SyncOptions) {
+        const cmd = opts.useSteps ? DAL.opOutputStepSync : DAL.opOutputTimeSync;
+        const b = mkCmd(out, cmd, 11);
+        const speed = Math.clamp(-100, 100, opts.speed);
+        const turnRatio = Math.clamp(-200, 200, opts.turnRatio);
+
+        b.setNumber(NumberFormat.Int8LE, 2, speed)
+        // note that b[3] is padding
+        b.setNumber(NumberFormat.Int16LE, 4 + 4 * 0, turnRatio)
+        // b[6], b[7] is padding
+        b.setNumber(NumberFormat.Int32LE, 4 + 4 * 1, opts.stepsOrTime || 0)
+        b.setNumber(NumberFormat.Int8LE, 4 + 4 * 2, opts.useBrake ? 1 : 0)
+        writePWM(b)
+    }
+
     interface StepOptions {
         power?: number;
         speed?: number; // either speed or power has to be present
@@ -279,6 +591,17 @@ namespace motors {
         useBrake?: boolean;
     }
 
+    function start(out: Output) {
+        const b = mkCmd(out, DAL.opOutputStart, 0)
+        writePWM(b);
+    }
+
+    function stop(out: Output, brake: boolean) {
+        const b = mkCmd(out, DAL.opOutputStop, 1)
+        b.setNumber(NumberFormat.UInt8LE, 2, brake ? 1 : 0)
+        writePWM(b);
+    }
+
     function step(out: Output, opts: StepOptions) {
         let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed
         let speed = opts.speed

libs/core/png.cpp

@@ -88,7 +88,7 @@ Image unpackPNG(Buffer png) {
     uint32_t byteW = (hd.width + 7) >> 3;
     uint32_t expSize = (byteW + 1) * hd.height;
     unsigned long sz = expSize;
-    uint8_t *tmp = (uint8_t *)malloc(sz);
+    uint8_t *tmp = (uint8_t *)xmalloc(sz);
     int code = uncompress(tmp, &sz, png->data + sizeof(hd), hd.lenIDAT);
     if (code != 0) {
         DMESG("PNG: zlib failed: %d", code);

libs/core/pxt.h

@@ -3,6 +3,8 @@
 
 #include "pxtbase.h"
 
+void *xmalloc(size_t sz);
+
 namespace pxt {
 void raiseEvent(int id, int event);
 int allocateNotifyEvent();

libs/core/pxt.json

@@ -10,6 +10,8 @@
         "linux.cpp",
         "mmap.cpp",
         "control.cpp",
+        "console.ts",
+        "serialnumber.cpp",
         "buttons.ts",
         "png.cpp",
         "screen.cpp",
@@ -17,17 +19,14 @@
         "output.cpp",
         "output.ts",
         "core.ts",
+        "input.cpp",
         "input.ts",
-        "ir.ts",
-        "color.ts",
-        "gyro.ts",
-        "ultrasonic.ts",
-        "touch.ts",
         "shims.d.ts",
         "enums.d.ts",
         "dal.d.ts",
         "images.ts",
         "images.jres",
+        "icons.jres",
         "ns.ts"
     ],
     "testFiles": [

libs/core/screen.cpp

@@ -180,7 +180,7 @@ void init() {
     mappedFrameBuffer = (uint8_t *)mmap(NULL, FB_SIZE, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
     DMESG("map %p", mappedFrameBuffer);
     if (mappedFrameBuffer == MAP_FAILED) {
-        target_panic(111);
+        target_panic(903);
     }
     clear();
 

libs/core/screen.ts

@@ -63,16 +63,16 @@ namespace brick {
             firstChar: 32,
             // source https://github.com/lancaster-university/microbit-dal/blob/master/source/core/MicroBitFont.cpp
             data: hex`
-0000000000 0202020002 0a0a000000 0a1f0a1f0a 0e130e190e 1309041219 0609060916 0202000000 0402020204 
-0204040402 000a040a00 00040e0400 0000000402 00000e0000 0000000200 1008040201 0609090906 040604040e 
-070806010f 0f08040906 0c0a091f08 1f010f100f 08040e110e 1f08040201 0e110e110e 0e110e0402 0002000200 
-0004000402 0804020408 000e000e00 0204080402 0e110c0004 0e11151906 06090f0909 0709070907 0e0101010e 
-0709090907 0f0107010f 0f01070101 0e0119110e 09090f0909 0702020207 1f08080906 0905030509 010101010f 
-111b151111 1113151911 0609090906 0709070101 060909060c 0709070911 0e01060807 1f04040404 0909090906 
-1111110a04 1111151b11 0909060909 110a040404 0f0402010f 0e0202020e 0102040810 0e0808080e 040a000000 
-000000001f 0204000000 000e09091e 0101070907 000e01010e 08080e090e 060907010e 0c02070202 0e090e0806 
-0101070909 0200020202 0800080806 0105030509 020202020c 001b151111 0007090909 0006090906 0007090701 
-000e090e08 000e010101 000c020403 02020e021c 000909091e 0011110a04 001111151b 0009060609 00110a0403 
+0000000000 0202020002 0a0a000000 0a1f0a1f0a 0e130e190e 1309041219 0609060916 0202000000 0402020204
+0204040402 000a040a00 00040e0400 0000000402 00000e0000 0000000200 1008040201 0609090906 040604040e
+070806010f 0f08040906 0c0a091f08 1f010f100f 08040e110e 1f08040201 0e110e110e 0e110e0402 0002000200
+0004000402 0804020408 000e000e00 0204080402 0e110c0004 0e11151906 06090f0909 0709070907 0e0101010e
+0709090907 0f0107010f 0f01070101 0e0119110e 09090f0909 0702020207 1f08080906 0905030509 010101010f
+111b151111 1113151911 0609090906 0709070101 060909060c 0709070911 0e01060807 1f04040404 0909090906
+1111110a04 1111151b11 0909060909 110a040404 0f0402010f 0e0202020e 0102040810 0e0808080e 040a000000
+000000001f 0204000000 000e09091e 0101070907 000e01010e 08080e090e 060907010e 0c02070202 0e090e0806
+0101070909 0200020202 0800080806 0105030509 020202020c 001b151111 0007090909 0006090906 0007090701
+000e090e08 000e010101 000c020403 02020e021c 000909091e 0011110a04 001111151b 0009060609 00110a0403
 000f04020f 0c0406040c 0202020202 0302060203 0000061800
 `
         }
@@ -84,7 +84,7 @@ namespace brick {
      * @param x the starting position's x coordinate, eg: 0
      * @param y the starting position's x coordinate, eg: 0
      */
-    //% blockId=screen_setpixel block="set pixel %on| at x: %x| y: %y"
+    //% blockId=screen_setpixel block="`icons.brickDisplay` set pixel %on| at x: %x| y: %y"
     //% weight=98 group="Screen"
     //% x.min=0 x.max=178 y.min=0 y.max=128 on.fieldEditor=toggleonoff
     export function setPixel(on: boolean, x: number, y: number) {
@@ -100,7 +100,7 @@ namespace brick {
      * @param x the starting position's x coordinate, eg: 0
      * @param y the starting position's x coordinate, eg: 0
      */
-    //% blockId=screen_print block="print %text| at x: %x| y: %y"
+    //% blockId=screen_print block="`icons.brickDisplay` print %text| at x: %x| y: %y"
     //% weight=99 group="Screen" inlineInputMode="inline" blockGap=8
     //% x.min=0 x.max=178 y.min=0 y.max=128
     export function print(text: string, x: number, y: number, mode = Draw.Normal) {
@@ -133,6 +133,42 @@ namespace brick {
         }
     }
 
+    /**
+     * Shows an image on screen
+     * @param image image to draw
+     */
+    //% blockId=screen_show_image block="`icons.brickDisplay` show image %image=screen_image_picker"
+    //% weight=95 group="Screen" blockGap=8
+    export function showImage(image: Image, delay: number = 400) {
+        if (!image) return;
+        image.draw(0, 0, Draw.Normal);
+        delay = Math.max(0, delay);
+        if (delay > 0)
+            loops.pause(delay);
+    }
+
+    /**
+     * An image
+     * @param image the image
+     */
+    //% blockId=screen_image_picker block="%image" shim=TD_ID
+    //% image.fieldEditor="imagedropdown"
+    //% image.fieldOptions.columns=6
+    //% image.fieldOptions.hasSearchBar=true
+    //% group="Screen" weight=0 blockHidden=1
+    export function _imagePicker(image: Image): Image {
+        return image;
+    }
+
+    /**
+     * Clears the screen
+     */
+    //% blockId=screen_clear_screen block="`icons.brickDisplay` clear screen"
+    //% weight=94 group="Screen" blockGap=8
+    export function clearScreen() {
+        screen.clear();
+    }
+
     export function drawRect(x: number, y: number, w: number, h: number, mode = Draw.Normal) {
         x |= 0;
         y |= 0;

libs/core/serialnumber.cpp

@@ -0,0 +1,77 @@
+#include "pxt.h"
+
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <unistd.h>
+
+#define BTPROTO_HCI 1
+#define HCIGETDEVLIST _IOR('H', 210, int)
+#define HCIGETDEVINFO _IOR('H', 211, int)
+
+struct hci_dev_info {
+    uint16_t dev_id;
+    char name[8];
+    uint8_t bdaddr[6];
+    uint32_t padding[32];
+};
+
+struct hci_dev_req {
+    uint16_t dev_id;
+    uint32_t dev_opt;
+};
+
+struct hci_dev_list_req {
+    uint16_t dev_num;
+    hci_dev_req dev_req[2];
+};
+
+static uint32_t bt_addr() {
+    uint32_t res = -1;
+
+    int fd = socket(AF_BLUETOOTH, SOCK_RAW, BTPROTO_HCI);
+    if (fd < 0) {
+        DMESG("BT_ADDR: can't open HCI socket");
+        return res;
+    }
+
+    hci_dev_list_req dl;
+    dl.dev_num = 1;
+
+    if (ioctl(fd, HCIGETDEVLIST, (void *)&dl) < 0) {
+        DMESG("BT_ADDR: can't get HCI device list");
+        goto done;
+    }
+
+    hci_dev_info di;
+    di.dev_id = dl.dev_req[0].dev_id;
+
+    if (ioctl(fd, HCIGETDEVINFO, (void *)&di) < 0) {
+        DMESG("BT_ADDR: can't get HCI device info");
+        goto done;
+    }
+
+    memcpy(&res, di.bdaddr, 4);
+    res *= 0x1000193;
+    res += di.bdaddr[4];
+    res *= 0x1000193;
+    res += di.bdaddr[5];
+
+done:
+    close(fd);
+    return res;
+}
+
+namespace pxt {
+
+int getSerialNumber() {
+    static int serial;
+
+    if (serial != 0)
+        return serial;
+
+    serial = bt_addr() & 0x7fffffff;
+
+    return serial;
+}
+
+} // namespace pxt

libs/core/shims.d.ts

@@ -120,5 +120,21 @@ declare namespace output {
     //% shim=output::createBuffer
     function createBuffer(size: int32): Buffer;
 }
+declare namespace motors {
+
+    /**
+     *  Mark a motor as used
+     */
+    //% shim=motors::__motorUsed
+    function __motorUsed(port: int32, large: boolean): void;
+}
+declare namespace sensors {
+
+    /**
+     *  Mark a sensor as used
+     */
+    //% shim=sensors::__sensorUsed
+    function __sensorUsed(port: int32, type: int32): void;
+}
 
 // Auto-generated. Do not edit. Really.

libs/core/sim/analogSensor.ts

@@ -1,81 +0,0 @@
-namespace pxsim {
-    enum ThresholdState {
-        High,
-        Low,
-        Normal
-    }
-
-    export class AnalogSensorState {
-        public sensorUsed: boolean = false;
-
-        private level: number;
-        private state = ThresholdState.Normal;
-
-        constructor(public id: number, private min = 0, private max = 255, private lowThreshold = 64, private highThreshold = 192) {
-            this.level = Math.ceil((max - min) / 2);
-        }
-
-        public setUsed() {
-            if (!this.sensorUsed) {
-                this.sensorUsed = true;
-                runtime.queueDisplayUpdate();
-            }
-        }
-
-        public setLevel(level: number) {
-            this.level = this.clampValue(level);
-
-            if (this.level >= this.highThreshold) {
-                this.setState(ThresholdState.High);
-            }
-            else if (this.level <= this.lowThreshold) {
-                this.setState(ThresholdState.Low);
-            }
-            else {
-                this.setState(ThresholdState.Normal);
-            }
-        }
-
-        public getLevel(): number {
-            return this.level;
-        }
-
-        public setLowThreshold(value: number) {
-            this.lowThreshold = this.clampValue(value);
-            this.highThreshold = Math.max(this.lowThreshold + 1, this.highThreshold);
-        }
-
-        public setHighThreshold(value: number) {
-            this.highThreshold = this.clampValue(value);
-            this.lowThreshold = Math.min(this.highThreshold - 1, this.lowThreshold);
-        }
-
-        private clampValue(value: number) {
-            if (value < this.min) {
-                return this.min;
-            }
-            else if (value > this.max) {
-                return this.max;
-            }
-            return value;
-        }
-
-        private setState(state: ThresholdState) {
-            if (this.state === state) {
-                return;
-            }
-
-            this.state = state;
-            switch (state) {
-                case ThresholdState.High:
-                    board().bus.queue(this.id, DAL.ANALOG_THRESHOLD_HIGH);
-                    break;
-                case ThresholdState.Low:
-                    board().bus.queue(this.id, DAL.ANALOG_THRESHOLD_LOW);
-                    break;
-                case ThresholdState.Normal:
-                    break;
-            }
-        }
-    }
-}

libs/core/sim/pins.ts

@@ -1,177 +0,0 @@
-
-namespace pxsim.pins {
-    export class CommonPin extends Pin {
-        used: boolean;
-    }
-
-    export class DigitalPin extends CommonPin {
-    }
-
-    export class AnalogPin extends CommonPin {
-
-    }
-
-    export function markUsed(name: CommonPin) {
-        if (!name.used) {
-            name.used = true;
-            runtime.queueDisplayUpdate();
-        }
-    }
-}
-
-namespace pxsim.DigitalPinMethods {
-    export function digitalRead(name: pins.DigitalPin): number {
-        return name.digitalReadPin();
-    }
-
-    /**
-    * Set a pin or connector value to either 0 or 1.
-    * @param value value to set on the pin, 1 eg,0
-    */
-    export function digitalWrite(name: pins.DigitalPin, value: number): void {
-        name.digitalWritePin(value);
-    }
-
-    /**
-    * Configures this pin to a digital input, and generates events where the timestamp is the duration
-    * that this pin was either ``high`` or ``low``.
-    */
-    export function onPulsed(name: pins.DigitalPin, pulse: number, body: RefAction): void {
-        // TODO
-    }
-
-    /**
-    * Returns the duration of a pulse in microseconds
-    * @param value the value of the pulse (default high)
-    * @param maximum duration in micro-seconds
-    */
-    export function pulseIn(name: pins.DigitalPin, pulse: number, maxDuration = 2000000): number {
-        // TODO
-        return 500;
-    }
-
-    /**
-    * Configures the pull of this pin.
-    * @param pull one of the mbed pull configurations: PullUp, PullDown, PullNone
-    */
-    export function setPull(name: pins.DigitalPin, pull: number): void {
-        name.setPull(pull);
-    }
-
-    /**
-    * Do something when a pin is pressed.
-    * @param body the code to run when the pin is pressed
-    */
-    export function onPressed(name: pins.DigitalPin, body: RefAction): void {
-    }
-
-    /**
-     * Do something when a pin is released.
-     * @param body the code to run when the pin is released
-     */
-    export function onReleased(name: pins.DigitalPin, body: RefAction): void {
-    }
-
-    /**
-     * Get the pin state (pressed or not). Requires to hold the ground to close the circuit.
-     * @param name pin used to detect the touch
-     */
-    export function isPressed(name: pins.DigitalPin): boolean {
-        return name.isTouched();
-    }
-}
-
-namespace pxsim.AnalogPinMethods {
-    /**
-     * Read the connector value as analog, that is, as a value comprised between 0 and 1023.
-     */
-    export function analogRead(name: pins.AnalogPin): number {
-        pins.markUsed(name);
-        return name.analogReadPin();
-    }
-
-    /**
-     * Set the connector value as analog. Value must be comprised between 0 and 1023.
-     * @param value value to write to the pin between ``0`` and ``1023``. eg:1023,0
-     */
-    export function analogWrite(name: pins.AnalogPin, value: number): void {
-        pins.markUsed(name);
-        name.analogWritePin(value);
-
-    }
-
-    /**
-     * Configures the Pulse-width modulation (PWM) of the analog output to the given value in
-     * **microseconds** or `1/1000` milliseconds.
-     * If this pin is not configured as an analog output (using `analog write pin`), the operation has
-     * no effect.
-     * @param micros period in micro seconds. eg:20000
-     */
-    export function analogSetPeriod(name: pins.AnalogPin, micros: number): void {
-        pins.markUsed(name);
-        name.analogSetPeriod(micros);
-    }
-
-    /**
-     * Writes a value to the servo, controlling the shaft accordingly. On a standard servo, this will
-     * set the angle of the shaft (in degrees), moving the shaft to that orientation. On a continuous
-     * rotation servo, this will set the speed of the servo (with ``0`` being full-speed in one
-     * direction, ``180`` being full speed in the other, and a value near ``90`` being no movement).
-     * @param value angle or rotation speed, eg:180,90,0
-     */
-    export function servoWrite(name: pins.AnalogPin, value: number): void {
-        pins.markUsed(name);
-        name.servoWritePin(value);
-    }
-
-    /**
-     * Configures this IO pin as an analog/pwm output, configures the period to be 20 ms, and sets the
-     * pulse width, based on the value it is given **microseconds** or `1/1000` milliseconds.
-     * @param micros pulse duration in micro seconds, eg:1500
-     */
-    export function servoSetPulse(name: pins.AnalogPin, micros: number): void {
-        pins.markUsed(name);
-        // TODO fix pxt
-        // name.servoSetPulse(micros);
-    }
-}
-
-namespace pxsim.PwmPinMethods {
-    export function analogSetPeriod(name: pins.AnalogPin, micros: number): void {
-        name.analogSetPeriod(micros);
-    }
-
-    export function servoWrite(name: pins.AnalogPin, value: number): void {
-        name.servoWritePin(value);
-    }
-
-    export function servoSetPulse(name: pins.AnalogPin, micros: number): void {
-        name.servoSetPulse(name.id, micros);
-    }
-}
-
-namespace pxsim.pins {
-    export function pulseDuration(): number {
-        // bus last event timestamp
-        return 500;
-    }
-
-    export function createBuffer(sz: number) {
-        return pxsim.BufferMethods.createBuffer(sz)
-    }
-
-    export function spiWrite(value: number): number {
-        // TODO
-        return 0;
-    }
-
-    export function i2cReadBuffer(address: number, size: number, repeat?: boolean): RefBuffer {
-        // fake reading zeros
-        return createBuffer(size)
-    }
-
-    export function i2cWriteBuffer(address: number, buf: RefBuffer, repeat?: boolean): void {
-        // fake - noop
-    }
-}
-

libs/core/test.ts

@@ -1,51 +1,36 @@
 screen.clear()
-screen.print("PXT!", 10, 30, Draw.Quad)
+brick.print("PXT!", 10, 30, Draw.Quad)
 
-screen.drawRect(40, 40, 20, 10, Draw.Fill)
-motors.setStatusLight(LightsPattern.Orange)
+brick.drawRect(40, 40, 20, 10, Draw.Fill)
+brick.setStatusLight(LightsPattern.Orange)
 
-screen.heart.doubled().draw(100, 50, Draw.Double | Draw.Transparent)
+brick.heart.doubled().draw(100, 50, Draw.Double | Draw.Transparent)
 
-sensors.buttonEnter.onEvent(ButtonEvent.Click, () => {
+brick.buttonEnter.onEvent(ButtonEvent.Click, () => {
     screen.clear()
 })
 
-sensors.buttonLeft.onEvent(ButtonEvent.Click, () => {
-    screen.drawRect(10, 70, 20, 10, Draw.Fill)
-    motors.setStatusLight(LightsPattern.Red)
-    screen.setFont(screen.microbitFont())
+brick.buttonLeft.onEvent(ButtonEvent.Click, () => {
+    brick.drawRect(10, 70, 20, 10, Draw.Fill)
+    brick.setStatusLight(LightsPattern.Red)
+    brick.setFont(brick.microbitFont())
 })
 
-sensors.buttonRight.onEvent(ButtonEvent.Click, () => {
-    screen.print("Right!", 10, 60)
+brick.buttonRight.onEvent(ButtonEvent.Click, () => {
+    brick.print("Right!", 10, 60)
 })
 
-sensors.buttonDown.onEvent(ButtonEvent.Click, () => {
-    screen.print("Down! ", 10, 60)
+brick.buttonDown.onEvent(ButtonEvent.Click, () => {
+    brick.print("Down! ", 10, 60)
 })
 
-sensors.buttonUp.onEvent(ButtonEvent.Click, () => {
-    screen.print("Up!  ", 10, 60)
+brick.buttonUp.onEvent(ButtonEvent.Click, () => {
+    brick.print("Up!  ", 10, 60)
 })
 
 
 let num = 0
 
-sensors.touchSensor1.onEvent(TouchSensorEvent.Bumped, () => {
-    screen.print("Click!  " + num, 10, 60)
-    num++
-})
-
-sensors.remoteButtonTopLeft.onEvent(ButtonEvent.Click, () => {
-    screen.print("TOPLEFT " + num, 10, 60)
-    num++
-})
-
-sensors.remoteButtonTopRight.onEvent(ButtonEvent.Down, () => {
-    screen.print("TOPRIGH " + num, 10, 60)
-    num++
-})
-
 loops.forever(() => {
     serial.writeDmesg()
     loops.pause(100)

libs/ev3/ns.ts

@@ -1,19 +1,25 @@
 
-//% color="#00A5C8" weight=100
+//% color="#68C3E2" weight=100
 //% groups='["Light", "Buttons", "Screen"]'
+//% labelLineWidth=0
 namespace brick {
 }
 
 
-//% color="#D42878" weight=95
+//% color="#C8509B" weight=95 icon="\uf192"
+//% labelLineWidth=0
+//% groups='["Ultrasonic Sensor", "Touch Sensor", "Color Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
+//% groupIcons='["\uf101","\uf103","\uf102","","","\uf104"]'
 namespace sensors {
 }
 
-//% color="#8AC044" weight=90 icon="\uf185"
+//% color="#A5CA18" weight=90 icon="\uf185"
+//% groups='["Motion", "Sensors", "Chassis"]'
+//% labelLineWidth=0
 namespace motors {
 }
 
-//% color="#DF5014" weight=80
+//% color="#D67923" weight=80
 namespace music {
 
 }
@@ -33,12 +39,12 @@ namespace serial {
 
 }
 
-//% color="#0F841C"
+//% color="#58AB41"
 namespace loops {
 
 }
 
-//% color="#4c97ff"
+//% color="#1E5AA8"
 namespace light {
 
 }

libs/ev3/pxt.json

@@ -3,12 +3,17 @@
     "description": "The EV3 library",
     "files": [
         "README.md",
-        "ns.ts"
+        "ns.ts",
+        "startup.ts"
     ],
     "dependencies": {
         "base": "file:../base",
         "core": "file:../core",
-        "music": "file:../music"
+        "music": "file:../music",
+        "color-sensor": "file:../color-sensor",
+        "touch-sensor": "file:../touch-sensor",
+        "ultrasonic-sensor": "file:../ultrasonic-sensor",
+        "gyro-sensor": "file:../gyro-sensor"
     },
     "public": true
 }

libs/ev3/startup.ts

@@ -0,0 +1,4 @@
+// This is the last thing executed before user code
+
+// We pause for 100ms to give time to read sensor values, so they work in on_start block
+loops.pause(100)

libs/gyro-sensor/README.md

@@ -0,0 +1,3 @@
+# Gyro Sensor
+
+The library to interact with the Gyro Sensor.

libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json

@@ -0,0 +1,4 @@
+{
+  "sensors.GyroSensor.angle": "Get the current angle from the gyroscope.",
+  "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope."
+}

libs/gyro-sensor/_locales/gyro-sensor-strings.json

@@ -0,0 +1,10 @@
+{
+  "sensors.GyroSensor.angle|block": "%sensor|angle",
+  "sensors.GyroSensor.rate|block": "%sensor|rotation rate",
+  "sensors.gyro1|block": "gyro 1",
+  "sensors.gyro2|block": "gyro 2",
+  "sensors.gyro3|block": "gyro 3",
+  "sensors.gyro4|block": "gyro 4",
+  "{id:category}Sensors": "Sensors",
+  "{id:group}Gyro Sensor": "Gyro Sensor"
+}