0.0.46

* fixing polarity

* allocate motor on motorUsed only

* perform sub-step integration step for better precision

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/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 @@
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+</defs>
+</svg>

legoresources/Block icns/icn_block_Large_motor.svg

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+      }
+
+      .cls-2 {
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+      }
+
+      .cls-3 {
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+      }
+
+      .cls-4 {
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+      }
+
+      .cls-5 {
+        fill: #919191;
+      }
+
+      .cls-6 {
+        clip-path: url(#clip-path-3);
+      }
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+      .cls-7 {
+        fill: #f2f2f2;
+      }
+
+      .cls-8 {
+        clip-path: url(#clip-path-4);
+      }
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+      .cls-9 {
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+      }
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+      .cls-10 {
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+      .cls-11 {
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+      }
+
+      .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);
+      }
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+      }
+    </style>
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+</svg>

legoresources/Block icns/icn_block_buttons_green.svg

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+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="1321.124 9006.084 42.65 31.79">
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+        fill: #6a6a6a;
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+      .cls-2 {
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+  </g>
+</svg>

legoresources/Block icns/icn_block_buttons_red.svg

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+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="1321.124 8957.084 42.65 31.79">
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+      .cls-1 {
+        fill: #6a6a6a;
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+      .cls-2 {
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+
+      .cls-3 {
+        fill: #a8a9a8;
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+</svg>

legoresources/Block icns/icn_block_buttons_yellow.svg

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+        fill: #6a6a6a;
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+      .cls-2 {
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+      .cls-3 {
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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.",
@@ -142,15 +142,10 @@
   "loops.forever": "Repeats the code forever in the background. On each iteration, allows other codes to run.",
   "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",
-  "loops.waitUntil": "Busy wait for a condition to be true",
-  "loops.waitUntil|param|condition": "condition to test for",
-  "loops.waitUntil|param|timeOut": "if positive, maximum duration to wait for in milliseconds",
-  "loops.when": "Runs code when the condition becomes true",
-  "loops.when|param|condition": "condition to test",
-  "loops.when|param|handler": "code to run",
   "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/base/pxt.json

@@ -17,8 +17,7 @@
         "control.cpp",
         "control.ts",
         "serial.cpp",
-        "serial.ts",
-        "loops.ts"
+        "serial.ts"
     ],
     "testFiles": [
         "test.ts"

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

@@ -8,5 +8,8 @@
   "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.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

@@ -13,14 +13,16 @@
   "LightCondition.Dark|block": "dark",
   "LightIntensityMode.Ambient|block": "ambient light",
   "LightIntensityMode.Reflected|block": "reflected light",
-  "sensors.ColorSensor.color|block": "`icons.colorSensor` %color| color",
-  "sensors.ColorSensor.light|block": "`icons.colorSensor` %color|%mode",
-  "sensors.ColorSensor.onColorDetected|block": "on `icons.colorSensor` %sensor|detected color %color",
-  "sensors.ColorSensor.onLightChanged|block": "on `icons.colorSensor` %sensor|%mode|%condition",
-  "sensors.color1|block": "1",
-  "sensors.color2|block": "2",
-  "sensors.color3|block": "3",
-  "sensors.color4|block": "4",
+  "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

@@ -68,6 +68,13 @@ namespace sensors {
         }
 
         setMode(m: ColorSensorMode) {
+            if (m == ColorSensorMode.AmbientLightIntensity) {
+                this.thresholdDetector.setLowThreshold(5);
+                this.thresholdDetector.setHighThreshold(20);
+            } else {
+                this.thresholdDetector.setLowThreshold(20);
+                this.thresholdDetector.setHighThreshold(80);
+            }
             this._setMode(m)
         }
 
@@ -79,7 +86,9 @@ namespace sensors {
         }
 
         _query() {
-            if (this.mode == ColorSensorMode.Color)
+            if (this.mode == ColorSensorMode.Color
+                || this.mode == ColorSensorMode.AmbientLightIntensity
+                || this.mode == ColorSensorMode.ReflectedLightIntensity)
                 return this.getNumber(NumberFormat.UInt8LE, 0)
             return 0
         }
@@ -97,26 +106,45 @@ namespace sensors {
          * @param handler the code to run when detected
          */
         //% help=sensors/color-sensor/on-color-detected
-        //% block="on `icons.colorSensor` %sensor|detected color %color"
+        //% 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);
-            this.setMode(ColorSensorMode.Color)
             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 color the color sensor to query the request
+         * @param sensor the color sensor to query the request
          */
         //% help=sensors/color-sensor/color
-        //% block="`icons.colorSensor` %color| color"
+        //% block="%sensor| color"
         //% blockId=colorGetColor
         //% parts="colorsensor"
         //% blockNamespace=sensors
@@ -133,27 +161,44 @@ namespace sensors {
          * @param handler the code to run when detected
          */
         //% help=sensors/color-sensor/on-light-changed
-        //% block="on `icons.colorSensor` %sensor|%mode|%condition"
+        //% 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) {
-            control.onEvent(this._id, <number>condition, handler);
             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 color the color sensor port
+         * @param sensor the color sensor port
          */
         //% help=sensors/color-sensor/light
-        //% block="`icons.colorSensor` %color|%mode"
+        //% block="%sensor|%mode"
         //% blockId=colorLight
         //% parts="colorsensor"
         //% blockNamespace=sensors
-        //% weight=88
+        //% weight=87
         //% group="Color Sensor"
         light(mode: LightIntensityMode) {
             this.setMode(<ColorSensorMode><number>mode)
@@ -171,15 +216,15 @@ namespace sensors {
         }
     }
 
-    //% whenUsed block="1" weight=95 fixedInstance
+    //% whenUsed block="color 1" weight=95 fixedInstance jres=icons.port1
     export const color1: ColorSensor = new ColorSensor(1)
 
-    //% whenUsed block="3" weight=90 fixedInstance
-    export const color3: ColorSensor = new ColorSensor(3)
-    
-    //% whenUsed block="2" weight=90 fixedInstance
+    //% whenUsed block="color 2" weight=90 fixedInstance jres=icons.port2
     export const color2: ColorSensor = new ColorSensor(2)
 
-    //% whenUsed block="4" weight=90 fixedInstance
+    //% 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/core/_locales/core-jsdoc-strings.json

@@ -18,8 +18,8 @@
   "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.waitUntil": "Waits until the event is raised",
-  "brick.Button.waitUntil|param|ev": "the event to wait for",
+  "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",
@@ -28,20 +28,29 @@
   "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.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.printPorts": "Prints the port states on the screen",
   "brick.print|param|text": "the text to print on the screen, eg: \"Hello world\"",
   "brick.print|param|x": "the starting position's x coordinate, eg: 0",
   "brick.print|param|y": "the starting position's x coordinate, eg: 0",
+  "brick.setLight": "Set lights.",
+  "brick.setLight|param|pattern": "the lights pattern to use.",
   "brick.setPixel": "Sets a pixel on or off",
   "brick.setPixel|param|on": "a value indicating if the pixel should be on or off",
   "brick.setPixel|param|x": "the starting position's x coordinate, eg: 0",
   "brick.setPixel|param|y": "the starting position's x coordinate, eg: 0",
-  "brick.setStatusLight": "Set lights.",
-  "brick.setStatusLight|param|pattern": "the lights pattern to use.",
   "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.",
@@ -50,28 +59,49 @@
   "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.GyroSensor.angle": "Get the current angle from the gyroscope.",
-  "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
   "serial": "Reading and writing data over a serial connection.",
   "serial.writeDmesg": "Send DMESG debug buffer over serial."
 }

libs/core/_locales/core-strings.json

@@ -12,57 +12,71 @@
   "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",
-  "brick.Button.isPressed|block": "`icons.brickButtons` %button|is pressed",
-  "brick.Button.onEvent|block": "on `icons.brickButtons` %button|%event",
-  "brick.Button.waitUntil|block": "wait until `icons.brickButtons` %button|%event",
-  "brick.Button.wasPressed|block": "`icons.brickButtons` %button|was pressed",
+  "brick.Button.isPressed|block": "%button|is pressed",
+  "brick.Button.onEvent|block": "on %button|%event",
+  "brick.Button.pauseUntil|block": "pause until %button|%event",
+  "brick.Button.wasPressed|block": "%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": "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=scren_image_picker",
+  "brick.printPorts|block": "print ports",
+  "brick.print|block": "print %text| at x: %x| y: %y",
+  "brick.setLight|block": "set light to %pattern=led_pattern",
+  "brick.setPixel|block": "set pixel %on| at x: %x| y: %y",
+  "brick.showImage|block": "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": "`icons.motorLarge` %motor|count",
-  "motors.Motor.move|block": "move `icons.motorLarge` %motor|by %angle|degrees at %power|%",
-  "motors.Motor.power|block": "power `icons.motorLarge` %motor|to %power|%",
-  "motors.Motor.setBrake|block": "set `icons.motorLarge` %motor|brake %brake",
-  "motors.Motor.setReversed|block": "set `icons.motorLarge` %motor|reversed %reversed",
-  "motors.Motor.speed|block": "`icons.motorLarge` %motor|speed",
-  "motors.Motor.stop|block": "stop `icons.motorLarge` %motor",
-  "motors.Motor.tachoCount|block": "`icons.motorLarge` %motor|tacho count",
-  "motors.largeMotorA|block": "large A",
-  "motors.largeMotorB|block": "large B",
-  "motors.largeMotorC|block": "large C",
-  "motors.largeMotorD|block": "large D",
-  "motors.mediumMotorA|block": "medium A",
-  "motors.mediumMotorB|block": "medium B",
-  "motors.mediumMotorC|block": "medium C",
-  "motors.mediumMotorD|block": "medium D",
-  "motors.stopAllMotors|block": "stop all `icons.motorLarge`",
+  "motors.Motor.angle|block": "%motor|angle",
+  "motors.Motor.speed|block": "%motor|speed",
+  "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.GyroSensor.angle|block": "`icons.gyroSensor` %sensor|angle",
-  "sensors.GyroSensor.rate|block": "`icons.gyroSensor` %sensor|rotation rate",
-  "sensors.gyro1|block": "1",
-  "sensors.gyro2|block": "2",
-  "sensors.gyro3|block": "3",
-  "sensors.gyro4|block": "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",
@@ -70,11 +84,11 @@
   "{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}Gyro Sensor": "Gyro Sensor",
+  "{id:group}Chassis": "Chassis",
   "{id:group}Light": "Light",
-  "{id:group}Motors": "Motors",
-  "{id:group}Screen": "Screen"
+  "{id:group}Motion": "Motion",
+  "{id:group}Screen": "Screen",
+  "{id:group}Sensors": "Sensors"
 }

libs/core/buttons.ts

@@ -85,7 +85,7 @@ namespace brick {
          * @param button the button to query the request
          */
         //% help=input/button/is-pressed
-        //% block="`icons.brickButtons` %button|is pressed"
+        //% block="%button|is pressed"
         //% blockId=buttonIsPressed
         //% parts="brick"
         //% blockNamespace=brick
@@ -100,7 +100,7 @@ namespace brick {
          * @param button the button to query the request
          */
         //% help=input/button/was-pressed
-        //% block="`icons.brickButtons` %button|was pressed"
+        //% block="%button|was pressed"
         //% blockId=buttonWasPressed
         //% parts="brick"
         //% blockNamespace=brick
@@ -119,7 +119,7 @@ namespace brick {
          * @param body code to run when the event is raised
          */
         //% help=input/button/on-event
-        //% blockId=buttonEvent block="on `icons.brickButtons` %button|%event"
+        //% blockId=buttonEvent block="on %button|%event"
         //% parts="brick"
         //% blockNamespace=brick
         //% weight=99 blockGap=8
@@ -132,13 +132,13 @@ namespace brick {
          * Waits until the event is raised
          * @param ev the event to wait for
          */
-        //% help=input/button/wait-until
-        //% blockId=buttonWaitUntil block="wait until `icons.brickButtons` %button|%event"
+        //% help=input/button/pause-until
+        //% blockId=buttonWaitUntil block="pause until %button|%event"
         //% parts="brick"
         //% blockNamespace=brick
         //% weight=98 blockGap=8
         //% group="Buttons"
-        waitUntil(ev: ButtonEvent) {
+        pauseUntil(ev: ButtonEvent) {
             control.waitForEvent(this._id, ev);
         }
     }
@@ -248,9 +248,9 @@ namespace brick {
      * Set lights.
      * @param pattern the lights pattern to use.
      */
-    //% blockId=setLights block="set `icons.brickButtons` to %pattern=led_pattern"
-    //% weight=100 group="Light"
-    export function setStatusLight(pattern: number): void {
+    //% blockId=setLights block="set light to %pattern=led_pattern"
+    //% weight=100 group="Buttons"
+    export function setLight(pattern: number): void {
         if (currPattern === pattern)
             return
         currPattern = pattern

libs/core/console.ts

@@ -0,0 +1,106 @@
+/// <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;
+    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 * brick.LINE_HEIGHT)
+        }
+    }
+
+    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/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()
@@ -73,6 +74,11 @@ namespace sensors.internal {
 
     }
 
+    export function getActiveSensors(): Sensor[] {
+        init();
+        return sensorInfos.filter(si => si.sensor && si.sensor.isActive()).map(si => si.sensor);
+    }
+
     function readUartInfo(port: number, mode: number) {
         let buf = output.createBuffer(UartCtlOff.Size)
         buf[UartCtlOff.Port] = port
@@ -141,6 +147,11 @@ namespace sensors.internal {
             this._port = port_ - 1
             init()
             sensorInfos[this._port].sensors.push(this)
+            this.markUsed();
+        }
+
+        markUsed() {
+            sensors.__sensorUsed(this._port, this._deviceType());
         }
 
         _activated() { }
@@ -190,7 +201,7 @@ namespace sensors.internal {
         private lowThreshold: number;
         private highThreshold: number;
         private level: number;
-        private state: ThresholdState;
+        public state: ThresholdState;
 
         constructor(id: number, min = 0, max = 100, lowThreshold = 20, highThreshold = 80) {
             this.id = id;

libs/core/linux.cpp

@@ -13,14 +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) {
@@ -200,10 +221,6 @@ int current_time_ms() {
     return currTime() - startTime;
 }
 
-int getSerialNumber() {
-    return 42; // TODO
-}
-
 void disposeThread(Thread *t) {
     if (allThreads == t) {
         allThreads = t->next;
@@ -376,6 +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)

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
@@ -34,216 +51,493 @@ 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): void {
         init()
         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 `icons.motorLarge`"
-    //% weight=10 group="Motors" blockGap=8
+    //% blockId=motorStopAll block="stop all motors"
+    //% weight=97
+    //% group="Motion"
     export function stopAllMotors() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
         writePWM(b)
     }
 
+    /**
+     * Resets all motors
+     */
+    //% group="Motion"
+    export function resetAllMotors() {
+        reset(Output.ALL)
+    }
+
     //% fixedInstances
-    export class Motor extends control.Component {
-        private port: Output;
-        private large: boolean;
-        private brake: boolean;
+    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, large: boolean) {
+        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 `icons.motorLarge` %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);
-
-            // per LEGO: call it power, use speed
-            const b = mkCmd(this.port, DAL.opOutputSpeed, 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 `icons.motorLarge` %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 `icons.motorLarge` %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 `icons.motorLarge` %motor|brake %brake"
+        //% 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;
         }
 
         /** 
          * Reverses the motor polarity
         */
-        //% blockId=motorSetReversed block="set `icons.motorLarge` %motor|reversed %reversed"
+        //% 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 buf = mkCmd(this._port, DAL.opOutputTest, 2);
+            readPWM(buf)
+            const flags = buf.getNumber(NumberFormat.UInt8LE, 2);
+            // TODO: FIX with ~ support
+            for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                const flag = 1 << i;
+                if ((this._port & flag) && (flags & flag))
+                    return false;
+            }
+            return true;
+        }
+
+        /**
+         * 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="`icons.motorLarge` %motor|speed"
-        //% weight=72 group="Motors" blockGap=8
+        //% blockId=motorSpeed block="%motor|speed"
+        //% 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="`icons.motorLarge` %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="`icons.motorLarge` %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 A"
-    export const largeMotorA = new Motor(Output.A, true);
+    export const largeA = new Motor(Output.A, true);
 
     //% whenUsed fixedInstance block="large B"
-    export const largeMotorB = new Motor(Output.B, true);
+    export const largeB = new Motor(Output.B, true);
 
     //% whenUsed fixedInstance block="large C"
-    export const largeMotorC = new Motor(Output.C, true);
+    export const largeC = new Motor(Output.C, true);
 
     //% whenUsed fixedInstance block="large D"
-    export const largeMotorD = new Motor(Output.D, true);
+    export const largeD = new Motor(Output.D, true);
 
     //% whenUsed fixedInstance block="medium A"
-    export const mediumMotorA = new Motor(Output.A, false);
+    export const mediumA = new Motor(Output.A, false);
 
     //% whenUsed fixedInstance block="medium B"
-    export const mediumMotorB = new Motor(Output.B, false);
+    export const mediumB = new Motor(Output.B, false);
 
     //% whenUsed fixedInstance block="medium C"
-    export const mediumMotorC = new Motor(Output.C, false);
+    export const mediumC = new Motor(Output.C, false);
 
     //% whenUsed fixedInstance block="medium D"
-    export const mediumMotorD = new Motor(Output.D, false);
+    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)
-        writePWM(b)
+        writePWM(mkCmd(out, DAL.opOutputReset, 0))
+        writePWM(mkCmd(out, DAL.opOutputClearCount, 0))
     }
 
     function outOffset(out: Output) {
@@ -254,7 +548,7 @@ namespace motors {
         return 0
     }
 
-    interface MotorData {
+    export interface MotorData {
         actualSpeed: number; // -100..+100
         tachoCount: number;
         count: number;
@@ -262,7 +556,8 @@ namespace motors {
 
     // only a single output at a time
     function getMotorData(out: Output): MotorData {
-        let buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
+        init()
+        const buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
         return {
             actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),
             tachoCount: buf.getNumber(NumberFormat.Int32LE, MotorDataOff.TachoCounts),
@@ -270,6 +565,34 @@ namespace motors {
         }
     }
 
+    export function getAllMotorData(): MotorData[] {
+        init();
+        return [Output.A, Output.B, Output.C, Output.D].map(out => getMotorData(out));
+    }
+
+    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
@@ -280,6 +603,17 @@ 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",
@@ -17,8 +19,8 @@
         "output.cpp",
         "output.ts",
         "core.ts",
+        "input.cpp",
         "input.ts",
-        "gyro.ts",
         "shims.d.ts",
         "enums.d.ts",
         "dal.d.ts",

libs/core/screen.ts

@@ -1,4 +1,6 @@
 namespace brick {
+    export const LINE_HEIGHT = 12;
+
     //% shim=screen::_setPixel
     function _setPixel(p0: uint32, p1: uint32, mode: Draw): void { }
 
@@ -84,7 +86,7 @@ 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="`icons.brickDisplay` set pixel %on| at x: %x| y: %y"
+    //% blockId=screen_setpixel block="set pixel %on| at x: %x| y: %y"
     //% weight=98 group="Screen"
     //% x.min=0 x.max=178 y.min=0 y.max=128 on.fieldEditor=toggleonoff
     export function setPixel(on: boolean, x: number, y: number) {
@@ -100,7 +102,7 @@ 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="`icons.brickDisplay` print %text| at x: %x| y: %y"
+    //% blockId=screen_print block="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) {
@@ -137,7 +139,7 @@ namespace brick {
      * Shows an image on screen
      * @param image image to draw
      */
-    //% blockId=screen_show_image block="`icons.brickDisplay` show image %image=scren_image_picker"
+    //% blockId=screen_show_image block="show image %image=screen_image_picker"
     //% weight=95 group="Screen" blockGap=8
     export function showImage(image: Image, delay: number = 400) {
         if (!image) return;
@@ -151,15 +153,24 @@ namespace brick {
      * An image
      * @param image the image
      */
-    //% blockId=scren_image_picker block="%image" shim=TD_ID
+    //% blockId=screen_image_picker block="%image" shim=TD_ID
     //% image.fieldEditor="imagedropdown"
     //% image.fieldOptions.columns=6
-    //% block.fieldOptions.hasSearchBar=true
+    //% 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="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;
@@ -199,5 +210,29 @@ namespace brick {
             setLineCore(x, x1, y, mode);
     }
 
+    /**
+     * Prints the port states on the screen
+     */
+    //% blockId=brickPrintPorts block="print ports"
+    //% weight=1 group="Screen"
+    export function printPorts() {
+        clearScreen();
 
+        // motors
+        const datas = motors.getAllMotorData();
+        for(let i = 0; i < datas.length; ++i) {
+            const x = i * 52;
+            const data = datas[i];
+            print(`${data.actualSpeed}%`, x, brick.LINE_HEIGHT)
+            print(`${data.count}>`, x, 2 * brick.LINE_HEIGHT)
+        }
+
+        // sensors
+        const sis = sensors.internal.getActiveSensors();
+        for(let i =0; i < sis.length; ++i) {
+            const si = sis[i];
+            const x = (si.port() - 1) * 52;
+            print(`${si._query()}`, x, 9 * brick.LINE_HEIGHT)
+        }
+    }
 }

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.setLight(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.setLight(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

@@ -1,24 +1,30 @@
 
-//% color="#00A5C8" weight=100
-//% groups='["Light", "Buttons", "Screen"]'
+//% color="#68C3E2" weight=100
+//% groups='["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 {
 
 }
 
-//% color="#48150C"
+//% color="#5F3109"
 namespace control {
 
 }
@@ -33,12 +39,12 @@ namespace serial {
 
 }
 
-//% color="#0F841C"
+//% color="#58AB41"
 namespace loops {
 
 }
 
-//% color="#4c97ff"
+//% color="#1E5AA8"
 namespace light {
 
 }

libs/ev3/pxt.json

@@ -3,7 +3,8 @@
     "description": "The EV3 library",
     "files": [
         "README.md",
-        "ns.ts"
+        "ns.ts",
+        "startup.ts"
     ],
     "dependencies": {
         "base": "file:../base",
@@ -12,7 +13,7 @@
         "color-sensor": "file:../color-sensor",
         "touch-sensor": "file:../touch-sensor",
         "ultrasonic-sensor": "file:../ultrasonic-sensor",
-        "infrared-sensor": "file:../infrared-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"
+}

libs/gyro-sensor/gyro.ts

@@ -24,13 +24,13 @@ namespace sensors {
          * @param sensor the gyroscope to query the request
          */
         //% help=input/gyro/angle
-        //% block="`icons.gyroSensor` %sensor|angle"
+        //% block="%sensor|angle"
         //% blockId=gyroGetAngle
         //% parts="gyroscope"
         //% blockNamespace=sensors
         //% weight=65 blockGap=8
         //% group="Gyro Sensor"
-        angle() {
+        angle(): number {
             this.setMode(GyroSensorMode.Angle)
             return this.getNumber(NumberFormat.Int16LE, 0)
         }
@@ -40,27 +40,27 @@ namespace sensors {
          * @param sensor the gyroscope to query the request
          */
         //% help=input/gyro/rate
-        //% block="`icons.gyroSensor` %sensor|rotation rate"
+        //% block="%sensor|rotation rate"
         //% blockId=gyroGetRate
         //% parts="gyroscope"
         //% blockNamespace=sensors
         //% weight=65 blockGap=8        
         //% group="Gyro Sensor"
-        rate() {
+        rate(): number {
             this.setMode(GyroSensorMode.Rate)
             return this.getNumber(NumberFormat.Int16LE, 0)
         }
     }
 
-    //% fixedInstance whenUsed block="1"
+    //% fixedInstance whenUsed block="gyro 1" jres=icons.port1
     export const gyro1: GyroSensor = new GyroSensor(1)
 
-    //% fixedInstance whenUsed block="2" weight=95
+    //% fixedInstance whenUsed block="gyro 2" weight=95 jres=icons.port2
     export const gyro2: GyroSensor = new GyroSensor(2)
 
-    //% fixedInstance whenUsed block="3"
+    //% fixedInstance whenUsed block="gyro 3" jres=icons.port3
     export const gyro3: GyroSensor = new GyroSensor(3)
 
-    //% fixedInstance whenUsed block="4"
+    //% fixedInstance whenUsed block="gyro 4" jres=icons.port4
     export const gyro4: GyroSensor = new GyroSensor(4)
 }

libs/gyro-sensor/pxt.json

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

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

@@ -1,9 +1,9 @@
 {
   "sensors.InfraredSensor.onEvent": "Registers code to run when an object is getting near.",
   "sensors.InfraredSensor.onEvent|param|handler": "the code to run when detected",
+  "sensors.InfraredSensor.pauseUntil": "Waits for the event to occur",
   "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.waitUntil": "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",

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

@@ -1,17 +1,17 @@
 {
   "InfraredSensorEvent.ObjectDetected|block": "object detected",
   "InfraredSensorEvent.ObjectNear|block": "object near",
-  "sensors.InfraredSensor.onEvent|block": "on `icons.infraredSensor` %sensor|%event",
-  "sensors.InfraredSensor.proximity|block": "`icons.infraredSensor` %infrared|proximity",
-  "sensors.InfraredSensor.remoteCommand|block": "`icons.infraredSensor` %infrared|remote command",
-  "sensors.InfraredSensor.waitUntil|block": "wait until `icons.infraredSensor` %sensor| %event",
-  "sensors.RemoteInfraredBeaconButton.isPressed|block": "`icons.infraredSensor` %button|is pressed",
-  "sensors.RemoteInfraredBeaconButton.onEvent|block": "on `icons.infraredSensor` %button|%event",
-  "sensors.RemoteInfraredBeaconButton.wasPressed|block": "`icons.infraredSensor` %button|was pressed",
-  "sensors.infraredSensor1|block": "1",
-  "sensors.infraredSensor2|block": "2",
-  "sensors.infraredSensor3|block": "3",
-  "sensors.infraredSensor4|block": "4",
+  "sensors.InfraredSensor.onEvent|block": "on %sensor|%event",
+  "sensors.InfraredSensor.pauseUntil|block": "pause until %sensor| %event",
+  "sensors.InfraredSensor.proximity|block": "%sensor|proximity",
+  "sensors.InfraredSensor.remoteCommand|block": "%sensor|remote command",
+  "sensors.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed",
+  "sensors.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event",
+  "sensors.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed",
+  "sensors.infraredSensor1|block": "infrared 1",
+  "sensors.infraredSensor2|block": "infrared 2",
+  "sensors.infraredSensor3|block": "infrared 3",
+  "sensors.infraredSensor4|block": "infrared 4",
   "sensors.remoteButtonBottomLeft|block": "bottom-left",
   "sensors.remoteButtonBottomRight|block": "bottom-right",
   "sensors.remoteButtonCenter|block": "center",

libs/infrared-sensor/ir.ts

@@ -93,7 +93,7 @@ namespace sensors {
          * @param button the remote button to query the request
          */
         //% help=input/remote-infrared-beacon/is-pressed
-        //% block="`icons.infraredSensor` %button|is pressed"
+        //% block="%button|is pressed"
         //% blockId=remoteButtonIsPressed
         //% parts="remote"
         //% blockNamespace=sensors
@@ -108,7 +108,7 @@ namespace sensors {
          * @param button the remote button to query the request
          */
         //% help=input/remote-infrared-beacon/was-pressed
-        //% block="`icons.infraredSensor` %button|was pressed"
+        //% block="%button|was pressed"
         //% blockId=remotebuttonWasPressed
         //% parts="remote"
         //% blockNamespace=sensors
@@ -125,7 +125,7 @@ namespace sensors {
          * @param body code to run when the event is raised
          */
         //% help=input/remote-infrared-beacon/on-event
-        //% blockId=remotebuttonEvent block="on `icons.infraredSensor` %button|%event"
+        //% blockId=remotebuttonEvent block="on %button|%event"
         //% parts="remote"
         //% blockNamespace=sensors
         //% weight=99 blockGap=8
@@ -189,7 +189,7 @@ namespace sensors {
          * @param handler the code to run when detected
          */
         //% help=input/infrared/on
-        //% block="on `icons.infraredSensor` %sensor|%event"
+        //% block="on %sensor|%event"
         //% blockId=infraredOn
         //% parts="infraredsensor"
         //% blockNamespace=sensors
@@ -203,22 +203,22 @@ namespace sensors {
          * Waits for the event to occur
          */
         //% help=input/ultrasonic/wait
-        //% block="wait until `icons.infraredSensor` %sensor| %event"
+        //% block="pause until %sensor| %event"
         //% blockId=infraredwait
         //% parts="infraredsensor"
         //% blockNamespace=sensors
         //% weight=99 blockGap=8
         //% group="Infrared Sensor"
-        waitUntil(event: InfraredSensorEvent) {
+        pauseUntil(event: InfraredSensorEvent) {
             control.waitForEvent(this._id, event);
         }
 
         /**
          * Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)
-         * @param ir the infrared sensor
+         * @param sensor the infrared sensor
          */
         //% help=input/infrared/proximity
-        //% block="`icons.infraredSensor` %infrared|proximity"
+        //% block="%sensor|proximity"
         //% blockId=infraredGetProximity
         //% parts="infrared"
         //% blockNamespace=sensors
@@ -231,10 +231,10 @@ namespace sensors {
 
         /**
          * Get the remote commandreceived the infrared sensor.
-         * @param ir the infrared sensor
+         * @param sensor the infrared sensor
          */
         //% help=input/infrared/remote-command
-        //% block="`icons.infraredSensor` %infrared|remote command"
+        //% block="%sensor|remote command"
         //% blockId=infraredGetRemoteCommand
         //% parts="infrared"
         //% blockNamespace=sensors
@@ -252,16 +252,16 @@ namespace sensors {
         }
     }
 
-    //% fixedInstance whenUsed block="1"
+    //% fixedInstance whenUsed block="infrared 1" jres=icons.port1
     export const infraredSensor1: InfraredSensor = new InfraredSensor(1)
 
-    //% fixedInstance whenUsed block="2"
+    //% fixedInstance whenUsed block="infrared 2" jres=icons.port2
     export const infraredSensor2: InfraredSensor = new InfraredSensor(2)
 
-    //% fixedInstance whenUsed block="3"
+    //% fixedInstance whenUsed block="infrared 3" jres=icons.port3
     export const infraredSensor3: InfraredSensor = new InfraredSensor(3)
 
-    //% fixedInstance whenUsed block="4"
+    //% fixedInstance whenUsed block="infrared 4" jres=icons.port4
     export const infraredSensor4: InfraredSensor = new InfraredSensor(4)
 
 

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

@@ -11,12 +11,10 @@
   "music.fromWAV": "Makes a sound bound to a buffer in WAV format.",
   "music.noteFrequency": "Get the frequency of a note.",
   "music.noteFrequency|param|name": "the note name, eg: Note.C",
-  "music.playSound": "Start playing a sound and don't wait for it to finish.\nNotes are expressed as a string of characters with this format: NOTE[octave][:duration]",
-  "music.playSoundEffect": "Plays a sound",
+  "music.playSoundEffect": "Start playing a sound and don't wait for it to finish.",
+  "music.playSoundEffectUntilDone": "Plays a sound",
+  "music.playSoundEffectUntilDone|param|sound": "the sound to play",
   "music.playSoundEffect|param|sound": "the sound to play",
-  "music.playSoundUntilDone": "Play a sound and wait until the sound is done.\nNotes are expressed as a string of characters with this format: NOTE[octave][:duration]",
-  "music.playSoundUntilDone|param|sound": "the melody to play, eg: music.sounds(Sounds.PowerUp)",
-  "music.playSound|param|sound": "the melody to play, eg: music.sounds(Sounds.PowerUp)",
   "music.playTone": "Play a tone through the speaker for some amount of time.",
   "music.playTone|param|frequency": "pitch of the tone to play in Hertz (Hz)",
   "music.playTone|param|ms": "tone duration in milliseconds (ms)",
@@ -28,8 +26,6 @@
   "music.setTempo|param|bpm": "The new tempo in beats per minute, eg: 120",
   "music.setVolume": "Set the output volume of the sound synthesizer.",
   "music.setVolume|param|volume": "the volume 0...256, eg: 128",
-  "music.sounds": "Get the melody string for a built-in melody.",
-  "music.sounds|param|name": "the note name, eg: Note.C",
-  "music.stopAllSounds": "Stop all sounds from playing.",
+  "music.stopAllSounds": "Play a tone through the speaker for some amount of time.",
   "music.tempo": "Return the tempo in beats per minute (bpm).\nTempo is the speed (bpm = beats per minute) at which notes play. The larger the tempo value, the faster the notes will play."
 }

libs/music/_locales/music-strings.json

@@ -20,27 +20,17 @@
   "Note.GSharp|block": "G#",
   "SoundOutputDestination.Pin|block": "pin",
   "SoundOutputDestination.Speaker|block": "speaker",
-  "Sounds.BaDing|block": "ba ding",
-  "Sounds.JumpDown|block": "jump down",
-  "Sounds.JumpUp|block": "jump up",
-  "Sounds.MagicWand|block": "magic wand",
-  "Sounds.PowerDown|block": "power down",
-  "Sounds.PowerUp|block": "power up",
-  "Sounds.Siren|block": "siren",
-  "Sounds.Wawawawaa|block": "wawawawaa",
   "music._soundPicker|block": "%sound",
   "music.beat|block": "%fraction|beat",
   "music.changeTempoBy|block": "change tempo by %value|(bpm)",
   "music.noteFrequency|block": "%note",
-  "music.playSoundEffect|block": "play %sound",
-  "music.playSoundUntilDone|block": "play sound %sound=music_sounds|until done",
-  "music.playSound|block": "play sound %sound=music_sounds",
+  "music.playSoundEffectUntilDone|block": "play sound effect %sound|until done",
+  "music.playSoundEffect|block": "play sound effect %sound",
   "music.playTone|block": "play tone|at %note=device_note|for %duration=device_beat",
   "music.rest|block": "rest|for %duration=device_beat",
   "music.ringTone|block": "ring tone|at %note=device_note",
   "music.setTempo|block": "set tempo to %value|(bpm)",
   "music.setVolume|block": "set volume %volume",
-  "music.sounds|block": "%name",
   "music.stopAllSounds|block": "stop all sounds",
   "music.tempo|block": "tempo (bpm)",
   "music|block": "music",

libs/music/melodies.ts

@@ -0,0 +1 @@
+namespace music {}

libs/music/music.cpp

@@ -163,6 +163,21 @@ void playTone(int frequency, int ms) {
     sleep_ms(1);
 }
 
+/**
+* Play a tone through the speaker for some amount of time.
+*/
+//% help=music/stop-all-sounds
+//% blockId=music_stop_all_sounds block="stop all sounds"
+//% parts="headphone"
+//% blockNamespace=music
+//% weight=76 blockGap=8
+void stopAllSounds() {
+    if (currentSample) {
+        samplePtr = currentSample->length;
+    }
+    _stopSound();
+}
+
 /** Makes a sound bound to a buffer in WAV format. */
 //%
 Sound fromWAV(Buffer buf) {

libs/music/piano.ts

@@ -6,7 +6,7 @@ namespace music {
     //% weight=1 help=music/note-frequency
     //% blockId=device_note block="%note"
     //% shim=TD_ID color="#FFFFFF" colorSecondary="#FFFFFF"
-    //% note.fieldEditor="note" note.defl="262"
+    //% note.fieldEditor="note" note.defl="1046"
     //% note.fieldOptions.editorColour="#FF1493" note.fieldOptions.decompileLiterals=true
     //% note.fieldOptions.minNote=52 note.fieldOptions.maxNote=75
     //% useEnumVal=1

libs/music/shims.d.ts

@@ -25,6 +25,16 @@ declare namespace music {
     //% weight=76 blockGap=8 shim=music::playTone
     function playTone(frequency: int32, ms: int32): void;
 
+    /**
+     * Play a tone through the speaker for some amount of time.
+     */
+    //% help=music/stop-all-sounds
+    //% blockId=music_stop_all_sounds block="stop all sounds"
+    //% parts="headphone"
+    //% blockNamespace=music
+    //% weight=76 blockGap=8 shim=music::stopAllSounds
+    function stopAllSounds(): void;
+
     /** Makes a sound bound to a buffer in WAV format. */
     //% shim=music::fromWAV
     function fromWAV(buf: Buffer): Sound;

libs/music/sounds.ts

@@ -256,15 +256,17 @@ namespace sounds {
 }
 
 namespace music {
+    let numSoundsPlaying = 0;
+    const soundsLimit = 1;
+
     /**
      * Plays a sound
      * @param sound the sound to play
      */
-    //% blockId=music_play_sound_effect block="play %sound"
+    //% blockId=music_play_sound_effect_until_done block="play sound effect %sound|until done"
     //% weight=98
-    export function playSoundEffect(sound: Sound) {
+    export function playSoundEffectUntilDone(sound: Sound) {
         if (!sound) return;
-
         sound.play();
     }
 
@@ -277,4 +279,16 @@ namespace music {
     export function _soundPicker(sound: Sound): Sound {
         return sound;
     }
+
+    /**
+     * Start playing a sound and don't wait for it to finish.
+     * @param sound the sound to play
+     */
+    //% blockId=music_play_sound_effect block="play sound effect %sound"
+    //% weight=99
+    export function playSoundEffect(sound: Sound) {
+        if (!sound || numSoundsPlaying >= soundsLimit) return;
+        numSoundsPlaying++;
+        control.runInBackground(() => {sound.play(); numSoundsPlaying--;});
+    }
 }

libs/tests/README.md

@@ -0,0 +1,35 @@
+# tests
+
+A unit test framework
+
+## Defining tests
+
+Tests are registered as event handlers. They will automatically run once ``on start`` is finished.
+
+```blocks
+tests.test("lgB set speed 10", () => {
+    motors.largeB.setSpeed(10);
+    loops.pause(100)
+    tests.assertClose("speedB", 10, motors.largeB.speed(), 2)
+});
+```
+
+## Assertions
+
+The library has various asserts that will register fault. Note that since exceptions are not available, assertion failure **do not** stop the program execution.
+
+* **assert** checks a boolean condition
+
+```blocks
+tests.assert("speed positive", motors.largeB.speed() > 0)
+```
+
+* **assert close** checks that a numberical value is within a particular range
+
+```blocks
+tests.assertClose("speed", motors.largeB.speed(), 10, 2)
+```
+
+```package
+tests
+```

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

@@ -0,0 +1,9 @@
+{
+  "tests": "Unit tests framework",
+  "tests.assert": "Checks a boolean condition",
+  "tests.assertClose": "Checks that 2 values are close to each other",
+  "tests.assertClose|param|actual": "what the value was",
+  "tests.assertClose|param|expected": "what the value should be",
+  "tests.assertClose|param|tolerance": "the acceptable error margin",
+  "tests.test": "Registers a test to run"
+}

libs/tests/_locales/tests-strings.json

@@ -0,0 +1,6 @@
+{
+  "tests.assert|block": "assert %message|%condition",
+  "tests.test|block": "test %name",
+  "tests|block": "tests",
+  "{id:category}Tests": "Tests"
+}

libs/tests/pxt.json

@@ -0,0 +1,14 @@
+{
+    "name": "tests",
+    "description": "A unit test library",
+    "files": [
+        "README.md",
+        "tests.ts"
+    ],
+    "testFiles": [
+    ],
+    "public": true,
+    "dependencies": {
+        "core": "file:../core"
+    }
+}