0.0.51

Merge pull request #176 from Microsoft/iefonticons
Fix font icons on IE, and add package icon on Windows
2018-01-04 11:41:49 -08:00 · 2018-01-04 11:40:42 -08:00 · 2018-01-04 11:39:20 -08:00 · 2018-01-04 10:42:37 -08:00 · 2018-01-04 10:14:43 -08:00 · 2018-01-04 10:14:11 -08:00
175 changed files with 17244 additions and 4308 deletions
--- a/cmds/cmds.ts
+++ b/cmds/cmds.ts
@ -2,7 +2,7 @@

 import * as fs from 'fs';

-require("./editor")
+require("./editor/deploy")

 declare namespace pxt.editor {
    function deployCoreAsync(resp: pxtc.CompileResult, disconnect?: boolean): Promise<void>;
--- a/docs/static/MC-LEGO-loader-eyes.gif
+++ b/docs/static/MC-LEGO-loader-eyes.gif
--- a/docs/static/fonts/icons/iconfont.css
+++ b/docs/static/fonts/icons/iconfont.css
@ -0,0 +1,90 @@
+@font-face {
+	font-family: "iconfont";
+	src: url("iconfont.eot?73552ec404b3a3d3769a3f04fa58c2c4?#iefix") format("embedded-opentype"),
+url("iconfont.woff2?73552ec404b3a3d3769a3f04fa58c2c4") format("woff2"),
+url("iconfont.woff?73552ec404b3a3d3769a3f04fa58c2c4") format("woff");
+}
+
+.icon {
+	line-height: 1;
+}
+
+.icon:before {
+	font-family: iconfont !important;
+	font-style: normal;
+	font-weight: normal !important;
+	vertical-align: top;
+}
+
+.icon-ultrasonic:before {
+	content: "\f101";
+}
+.icon-color:before {
+	content: "\f102";
+}
+.icon-touch:before {
+	content: "\f103";
+}
+.icon-gyro:before {
+	content: "\f104";
+}
+.icon-addpackage:before {
+	content: "\f105";
+}
+.icon-brick:before {
+	content: "\f106";
+}
+.icon-controls:before {
+	content: "\f107";
+}
+.icon-functions:before {
+	content: "\f108";
+}
+.icon-list:before {
+	content: "\f109";
+}
+.icon-logic:before {
+	content: "\f10a";
+}
+.icon-loops:before {
+	content: "\f10b";
+}
+.icon-math:before {
+	content: "\f10c";
+}
+.icon-motors:before {
+	content: "\f10d";
+}
+.icon-music:before {
+	content: "\f10e";
+}
+.icon-sensors:before {
+	content: "\f10f";
+}
+.icon-text:before {
+	content: "\f110";
+}
+.icon-variables:before {
+	content: "\f111";
+}
+.icon-advancedcollapsed:before {
+	content: "\f112";
+}
+.icon-advancedexpanded:before {
+	content: "\f113";
+}
+.icon-cancel:before {
+	content: "\f114";
+}
+.icon-check:before {
+	content: "\f115";
+}
+.icon-download:before {
+	content: "\f116";
+}
+.icon-save:before {
+	content: "\f117";
+}
+.icon-blocks:before {
+	content: "\f118";
+}
--- a/docs/static/fonts/icons/iconfont.eot
+++ b/docs/static/fonts/icons/iconfont.eot
--- a/docs/static/fonts/icons/iconfont.svg
+++ b/docs/static/fonts/icons/iconfont.svg
@ -0,0 +1,84 @@
+<?xml version="1.0" standalone="no"?> 
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd" >
+<svg xmlns="http://www.w3.org/2000/svg">
+<defs>
+  <font id="iconfont" horiz-adv-x="40">
+    <font-face font-family="iconfont"
+      units-per-em="40" ascent="40"
+      descent="0" />
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+      horiz-adv-x="40" d=" M28.9 25.8C27.5 24.4 25.9 22.9 24.5 21.5H35.7V32.6L32.2 29.1C29.6 32.3 25.9 34.3 21.8 34.9C18.3 35.4 14.6 34.5 11.7 32.6C4.2 28.1 1.9 18.3 6.5 10.9S20.7 1.1 28.2 5.6C30.8 7.2 32.7 9.5 34.1 12.1C32.7 12.6 31.3 13.3 29.9 13.8C28.5 11 25.9 9 23 8.1C20.7 7.4 18.3 7.6 16 8.4C10.3 10.7 7.3 17.1 9.4 22.9C10.6 26.3 13.6 29 17.1 29.8C21.6 31.2 26.3 29.5 28.9 25.8z M16.7 19C16.7 17.1 18.3 15.7 20 15.7S23.3 17.3 23.3 19C23.3 21 21.8 22.3 20 22.3C18.1 22.5 16.7 21 16.7 19C16.7 19 16.7 19 16.7 19z" />
+    <glyph glyph-name="music"
+      unicode="&#xF10E;"
+      horiz-adv-x="40" d=" M24.2 17.7C27.1 17.2 29.9 15.7 31.7 13.2C32.5 13.2 33.4 13.2 33.4 13.2S36 20.9 30.3 26.3S13.4 31.7 9.2 26.3C6.3 22.6 5.2 17.6 6.8 13.2C7.3 13.2 7.7 13.2 8.2 13.2C8.2 13.2 11.1 17.6 15.8 17.7C15.7 10.1 15.7 3.5 15.7 3.5C12.3 4.2 9.6 6.3 8 9.4C4.5 10.1 1.7 13.2 1.7 17C1.7 28.3 10.3 34.8 20 34.8S38.8 27.3 38.1 17C37.7 9.9 31.8 9.4 31.8 9.4C30.4 6.3 27.7 4 24.3 3.5C24.2 11.3 24.2 17.7 24.2 17.7z" />
+    <glyph glyph-name="sensors"
+      unicode="&#xF10F;"
+      horiz-adv-x="40" d=" M20 36.9C10.6 36.9 3 29.2 3 19.8C3 10.4 10.6 2.8 20 2.8S37 10.4 37 19.8C36.9 29.4 29.4 36.9 20 36.9zM20 8.2C13.4 8.2 8.2 13.6 8.2 20S13.6 31.8 20 31.8S31.8 26.4 31.8 20S26.6 8.2 20 8.2z M13.2 20C13.2 16.3 16.3 13.2 20 13.2C23.7 13.2 26.8 16.3 26.8 20C26.8 23.7 23.7 26.8 20 26.8C16.3 26.8 13.2 23.7 13.2 20z" />
+    <glyph glyph-name="text"
+      unicode="&#xF110;"
+      horiz-adv-x="40" d=" M23.1 30.6V2.8H16.5V30.6H7.7V36.7H32.3V30.6H23.1z" />
+    <glyph glyph-name="variables"
+      unicode="&#xF111;"
+      horiz-adv-x="40" d=" M36.8 12V7.8H3.4V12H36.8z M36.8 22.1V17.9H3.4V22.1H36.8z M36.7 32.2V28H3.3V32.2H36.7z" />
+    <glyph glyph-name="advancedcollapsed"
+      unicode="&#xF112;"
+      horiz-adv-x="40" d=" M39.7 28.2L36.2 31.5L20 15.3L3.8 31.5L0.3 28.2L18.3 10.3L18.3 10.3L20 8.5L20.5 9L20.5 9z" />
+    <glyph glyph-name="advancedexpanded"
+      unicode="&#xF113;"
+      horiz-adv-x="40" d=" M39.3 12L21.7 29.6L21.7 29.6L20 31.3L19.5 30.8L19.5 30.8L0.7 12L4 8.7L20 24.7L36 8.7z" />
+    <glyph glyph-name="cancel"
+      unicode="&#xF114;"
+      horiz-adv-x="40" d=" M33 29.6L29.4 33.2L20.2 24L11 33.2L7.3 29.6L16.5 20.3L7.3 11.1L11 7.3L20.2 16.5L29.4 7.3L33 11.1L23.8 20.3z" />
+    <glyph glyph-name="check"
+      unicode="&#xF115;"
+      horiz-adv-x="40" d=" M33.7 32.9L15.3 14.4L7.5 22.3L3.8 18.4L11.7 10.8L11.7 10.8L15.3 7.1L37.4 29.2z" />
+    <glyph glyph-name="download"
+      unicode="&#xF116;"
+      horiz-adv-x="40" d=" M5.2 15.7H36.5V1.7H5.2V15.7z M28.5 24.2L26.1 26.6L22.6 23.1L22.6 36.5L19.1 36.5L19.1 23.5L16 26.6L13.6 24.2L20.9 16.7L21 16.9L21.2 16.7z" />
+    <glyph glyph-name="save"
+      unicode="&#xF117;"
+      horiz-adv-x="40" d=" M25 34.5C25 33.6 25 32.8 25 31.9C25 31 24.7 30.9 24 30.9C23.5 30.9 22.8 30.9 22.4 30.9C22.1 30.9 21.4 31 21.4 31.7V31.9V36.9C21.4 37.3 21.6 37.8 22.3 38C22.3 38 22.3 38 22.4 38C23 38 23.7 38 24.2 38C24.7 38 25.2 37.6 25.2 37.1C25.2 37.1 25.2 37.1 25.2 36.9C25 36.3 25 35.2 25 34.5z M37.6 31.2C35.8 32.9 34.3 34.5 32.5 36.3C31 37.8 31 37.8 28.5 37.8C27.5 37.8 27.3 37.6 27.3 36.6V28.4C27.3 27.4 27.1 27.2 26.1 27.2H14.3C13.2 27.2 13 27.4 13 28.4V36.4C13 37.6 12.9 37.8 11.7 37.8H3.8C2.6 37.8 2.4 37.6 2.4 36.4V19.9C2.4 14.3 2.4 8.9 2.4 3.2C2.4 2 2.6 1.8 3.7 1.8H36.9C37.9 1.8 38.1 2.2 38.1 3.2V29.6C38.3 30.5 37.9 30.9 37.6 31.2zM33.7 6.7H7.1V23H33.7V6.7z" />
+    <glyph glyph-name="blocks"
+      unicode="&#xF118;"
+      horiz-adv-x="40" d=" M10.9 23H39V16.9H10.9V23z M39.2 27.1L39.2 33L0.9 33L0.9 31.1L0.9 27.1L0.9 12.9L0.9 7L39.2 7L39.2 12.9L6.9 12.9L6.9 27.1z" />
+  </font>
+</defs>
+</svg>
--- a/docs/static/fonts/icons/iconfont.ttf
+++ b/docs/static/fonts/icons/iconfont.ttf
--- a/docs/static/fonts/icons/iconfont.woff
+++ b/docs/static/fonts/icons/iconfont.woff
--- a/docs/static/fonts/icons/iconfont.woff2
+++ b/docs/static/fonts/icons/iconfont.woff2
--- a/editor/deploy.ts
+++ b/editor/deploy.ts
@ -0,0 +1,133 @@
+/// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+import UF2 = pxtc.UF2;
+
+export let ev3: pxt.editor.Ev3Wrapper
+
+export function debug() {
+    return initAsync()
+        .then(w => w.downloadFileAsync("/tmp/dmesg.txt", v => console.log(pxt.Util.uint8ArrayToString(v))))
+}
+
+function hf2Async() {
+    return pxt.HF2.mkPacketIOAsync()
+        .then(h => {
+            let w = new pxt.editor.Ev3Wrapper(h)
+            ev3 = w
+            return w.reconnectAsync(true)
+                .then(() => w)
+        })
+}
+
+let noHID = false
+
+let initPromise: Promise<pxt.editor.Ev3Wrapper>
+export function initAsync() {
+    if (initPromise)
+        return initPromise
+
+    let canHID = false
+    if (pxt.U.isNodeJS) {
+        canHID = true
+    } else {
+        const forceHexDownload = /forceHexDownload/i.test(window.location.href);
+        if (pxt.Cloud.isLocalHost() && pxt.Cloud.localToken && !forceHexDownload)
+            canHID = true
+    }
+
+    if (noHID)
+        canHID = false
+
+    if (canHID) {
+        initPromise = hf2Async()
+            .catch(err => {
+                initPromise = null
+                noHID = true
+                return Promise.reject(err)
+            })
+    } else {
+        noHID = true
+        initPromise = Promise.reject(new Error("no HID"))
+    }
+
+    return initPromise
+}
+
+// this comes from aux/pxt.lms
+const rbfTemplate = `
+4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
+74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
+`
+export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
+    let w: pxt.editor.Ev3Wrapper
+
+    let filename = resp.downloadFileBaseName || "pxt"
+    filename = filename.replace(/^lego-/, "")
+
+    let fspath = "../prjs/BrkProg_SAVE/"
+
+    let elfPath = fspath + filename + ".elf"
+    let rbfPath = fspath + filename + ".rbf"
+
+    let rbfHex = rbfTemplate
+        .replace(/\s+/g, "")
+        .replace("XX", pxt.U.toHex(pxt.U.stringToUint8Array(elfPath)))
+    let rbfBIN = pxt.U.fromHex(rbfHex)
+    pxt.HF2.write16(rbfBIN, 4, rbfBIN.length)
+
+    let origElfUF2 = UF2.parseFile(pxt.U.stringToUint8Array(atob(resp.outfiles[pxt.outputName()])))
+
+    let mkFile = (ext: string, data: Uint8Array = null) => {
+        let f = UF2.newBlockFile()
+        f.filename = "Projects/" + filename + ext
+        if (data)
+            UF2.writeBytes(f, 0, data)
+        return f
+    }
+
+    let elfUF2 = mkFile(".elf")
+    for (let b of origElfUF2) {
+        UF2.writeBytes(elfUF2, b.targetAddr, b.data)
+    }
+
+    let r = UF2.concatFiles([elfUF2, mkFile(".rbf", rbfBIN)])
+    let data = UF2.serializeFile(r)
+
+    resp.outfiles[pxtc.BINARY_UF2] = btoa(data)
+
+    let saveUF2Async = () => {
+        if (isCli || !pxt.commands.saveOnlyAsync) {
+            return Promise.resolve()
+        } else {
+            return pxt.commands.saveOnlyAsync(resp)
+        }
+    }
+
+    if (noHID) return saveUF2Async()
+
+    return initAsync()
+        .then(w_ => {
+            w = w_
+            if (w.isStreaming)
+                pxt.U.userError("please stop the program first")
+            return w.stopAsync()
+        })
+        .then(() => w.rmAsync(elfPath))
+        .then(() => w.flashAsync(elfPath, UF2.readBytes(origElfUF2, 0, origElfUF2.length * 256)))
+        .then(() => w.flashAsync(rbfPath, rbfBIN))
+        .then(() => w.runAsync(rbfPath))
+        .then(() => {
+            if (isCli)
+                return w.disconnectAsync()
+            else
+                return Promise.resolve()
+            //return Promise.delay(1000).then(() => w.dmesgAsync())
+        }).catch(e => {
+            // if we failed to initalize, retry
+            if (noHID)
+                return saveUF2Async()
+            else
+                return Promise.reject(e)
+        })
+}
--- a/editor/extension.ts
+++ b/editor/extension.ts
@ -1,152 +1,120 @@
-/// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts" />
+/// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+import { deployCoreAsync, initAsync } from "./deploy";
+import { FieldPorts } from "./field_ports";
+import { FieldImages } from "./field_images";
+
+pxt.editor.initExtensionsAsync = function(opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
+    pxt.debug('loading pxt-ev3 target extensions...')
+    updateBlocklyShape();
+    const res: pxt.editor.ExtensionResult = {
+        fieldEditors: [{
+            selector: "ports",
+            editor: FieldPorts
+        }, {
+            selector: "images",
+            editor: FieldImages
+        }],
+        deployCoreAsync
+    };
+    initAsync().catch(e => {
+        // probably no HID - we'll try this again upon deployment
+    })
+    return Promise.resolve<pxt.editor.ExtensionResult>(res);
+}
+
+/**
+ * Update the shape of Blockly blocks with square corners
+ */
+function updateBlocklyShape() {
+
+    /**
+     * Rounded corner radius.
+     * @const
+     */
+    (Blockly.BlockSvg as any).CORNER_RADIUS = 0 * (Blockly.BlockSvg as any).GRID_UNIT;
+
+    /**
+     * Inner space between edge of statement input and notch.
+     * @const
+     */
+    (Blockly.BlockSvg as any).STATEMENT_INPUT_INNER_SPACE = 3 * (Blockly.BlockSvg as any).GRID_UNIT;
+    /**
+     * SVG path for drawing next/previous notch from left to right.
+     * @const
+     */
+    (Blockly.BlockSvg as any).NOTCH_PATH_LEFT = (
+        'l 8,8 ' +
+        'h 16 ' +
+        'l 8,-8 '
+    );
+
+    /**
+     * SVG path for drawing next/previous notch from right to left.
+     * @const
+     */
+    (Blockly.BlockSvg as any).NOTCH_PATH_RIGHT = (
+        'l -8,8 ' +
+        'h -16 ' +
+        'l -8,-8 '
+    );
+
+    /**
+     * SVG start point for drawing the top-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_LEFT_CORNER_START =
+        'm 0,' + 0;
+
+    /**
+     * SVG path for drawing the rounded top-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_LEFT_CORNER =
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0 ';
+
+    /**
+     * SVG path for drawing the rounded top-right corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_RIGHT_CORNER =
+        'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS;
+
+    /**
+     * SVG path for drawing the rounded bottom-right corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).BOTTOM_RIGHT_CORNER =
+        'l 0,' + (Blockly.BlockSvg as any).CORNER_RADIUS;
+
+    /**
+     * SVG path for drawing the rounded bottom-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).BOTTOM_LEFT_CORNER =
+        'l -' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0';
+
+    /**
+     * SVG path for drawing the top-left corner of a statement input.
+     * @const
+     */
+    (Blockly.BlockSvg as any).INNER_TOP_LEFT_CORNER =
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',-' + 0;
+
+    /**
+     * SVG path for drawing the bottom-left corner of a statement input.
+     * Includes the rounded inside corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).INNER_BOTTOM_LEFT_CORNER =
+        'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS * 2 +
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',' + 0;
+
+}

 // When require()d from node, bind the global pxt namespace
-namespace pxt {
-    export const dummyExport = 1;
-}
-eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")
-
-namespace pxt.editor {
-    import UF2 = pxtc.UF2;
-
-    export let ev3: Ev3Wrapper
-
-    export function debug() {
-        return initAsync()
-            .then(w => w.downloadFileAsync("/tmp/dmesg.txt", v => console.log(pxt.Util.uint8ArrayToString(v))))
-    }
-
-    // this comes from aux/pxt.lms
-    const rbfTemplate = `
-4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
-74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
-`
-
-    function hf2Async() {
-        return pxt.HF2.mkPacketIOAsync()
-            .then(h => {
-                let w = new Ev3Wrapper(h)
-                ev3 = w
-                return w.reconnectAsync(true)
-                    .then(() => w)
-            })
-    }
-
-    let noHID = false
-
-    let initPromise: Promise<Ev3Wrapper>
-    function initAsync() {
-        if (initPromise)
-            return initPromise
-
-        let canHID = false
-        if (U.isNodeJS) {
-            canHID = true
-        } else {
-            const forceHexDownload = /forceHexDownload/i.test(window.location.href);
-            if (Cloud.isLocalHost() && Cloud.localToken && !forceHexDownload)
-                canHID = true
-        }
-
-        if (noHID)
-            canHID = false
-
-        if (canHID) {
-            initPromise = hf2Async()
-                .catch(err => {
-                    initPromise = null
-                    noHID = true
-                    return Promise.reject(err)
-                })
-        } else {
-            noHID = true
-            initPromise = Promise.reject(new Error("no HID"))
-        }
-
-        return initPromise
-    }
-
-    export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
-        let w: Ev3Wrapper
-
-        let filename = resp.downloadFileBaseName || "pxt"
-        filename = filename.replace(/^lego-/, "")
-
-        let fspath = "../prjs/BrkProg_SAVE/"
-
-        let elfPath = fspath + filename + ".elf"
-        let rbfPath = fspath + filename + ".rbf"
-
-        let rbfHex = rbfTemplate
-            .replace(/\s+/g, "")
-            .replace("XX", U.toHex(U.stringToUint8Array(elfPath)))
-        let rbfBIN = U.fromHex(rbfHex)
-        HF2.write16(rbfBIN, 4, rbfBIN.length)
-
-        let origElfUF2 = UF2.parseFile(U.stringToUint8Array(atob(resp.outfiles[pxt.outputName()])))
-
-        let mkFile = (ext: string, data: Uint8Array = null) => {
-            let f = UF2.newBlockFile()
-            f.filename = "Projects/" + filename + ext
-            if (data)
-                UF2.writeBytes(f, 0, data)
-            return f
-        }
-
-        let elfUF2 = mkFile(".elf")
-        for (let b of origElfUF2) {
-            UF2.writeBytes(elfUF2, b.targetAddr, b.data)
-        }
-
-        let r = UF2.concatFiles([elfUF2, mkFile(".rbf", rbfBIN)])
-        let data = UF2.serializeFile(r)
-
-        resp.outfiles[pxtc.BINARY_UF2] = btoa(data)
-
-        let saveUF2Async = () => {
-            if (isCli || !pxt.commands.saveOnlyAsync) {
-                return Promise.resolve()
-            } else {
-                return pxt.commands.saveOnlyAsync(resp)
-            }
-        }
-
-        if (noHID) return saveUF2Async()
-
-        return initAsync()
-            .then(w_ => {
-                w = w_
-                if (w.isStreaming)
-                    U.userError("please stop the program first")
-                return w.stopAsync()
-            })
-            .then(() => w.rmAsync(elfPath))
-            .then(() => w.flashAsync(elfPath, UF2.readBytes(origElfUF2, 0, origElfUF2.length * 256)))
-            .then(() => w.flashAsync(rbfPath, rbfBIN))
-            .then(() => w.runAsync(rbfPath))
-            .then(() => {
-                if (isCli)
-                    return w.disconnectAsync()
-                else
-                    return Promise.resolve()
-                //return Promise.delay(1000).then(() => w.dmesgAsync())
-            }).catch(e => {
-                // if we failed to initalize, retry
-                if (noHID)
-                    return saveUF2Async()
-                else
-                    return Promise.reject(e)
-            })
-    }
-
-    initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
-        pxt.debug('loading pxt-ev3 target extensions...')
-        const res: pxt.editor.ExtensionResult = {
-            deployCoreAsync,
-        };
-        initAsync().catch(e => {
-            // probably no HID - we'll try this again upon deployment
-        })
-        return Promise.resolve<pxt.editor.ExtensionResult>(res);
-    }
-}
+// namespace pxt {
+//     export const dummyExport = 1;
+// }
+// eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")
--- a/editor/field_images.ts
+++ b/editor/field_images.ts
@ -0,0 +1,114 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtblocks.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldImagesOptions extends pxtblockly.FieldImageDropdownOptions {
+}
+
+export class FieldImages extends pxtblockly.FieldImageDropdown implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    constructor(text: string, options: FieldImagesOptions, validator?: Function) {
+        super(text, options, validator);
+    }
+
+    /**
+     * Create a dropdown menu under the text.
+     * @private
+     */
+    public showEditor_() {
+        // If there is an existing drop-down we own, this is a request to hide the drop-down.
+        if (Blockly.DropDownDiv.hideIfOwner(this)) {
+            return;
+        }
+        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
+        Blockly.DropDownDiv.hideWithoutAnimation();
+        Blockly.DropDownDiv.clearContent();
+        // Populate the drop-down with the icons for this field.
+        let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
+        let contentDiv = document.createElement('div');
+        // Accessibility properties
+        contentDiv.setAttribute('role', 'menu');
+        contentDiv.setAttribute('aria-haspopup', 'true');
+        const options = this.getOptions();
+        for (let i = 0, option: any; option = options[i]; i++) {
+            let content = (options[i] as any)[0]; // Human-readable text or image.
+            const value = (options[i] as any)[1]; // Language-neutral value.
+            // Icons with the type property placeholder take up space but don't have any functionality
+            // Use for special-case layouts
+            if (content.type == 'placeholder') {
+                let placeholder = document.createElement('span');
+                placeholder.setAttribute('class', 'blocklyDropDownPlaceholder');
+                placeholder.style.width = content.width + 'px';
+                placeholder.style.height = content.height + 'px';
+                contentDiv.appendChild(placeholder);
+                continue;
+            }
+            let button = document.createElement('button');
+            button.setAttribute('id', ':' + i); // For aria-activedescendant
+            button.setAttribute('role', 'menuitem');
+            button.setAttribute('class', 'blocklyDropDownButton');
+            button.title = content.alt;
+            if ((this as any).columns_) {
+                button.style.width = (((this as any).width_ / (this as any).columns_) - 8) + 'px';
+                //button.style.height = ((this.width_ / this.columns_) - 8) + 'px';
+            } else {
+                button.style.width = content.width + 'px';
+                button.style.height = content.height + 'px';
+            }
+            let backgroundColor = this.sourceBlock_.getColour();
+            if (value == this.getValue()) {
+                // This icon is selected, show it in a different colour
+                backgroundColor = this.sourceBlock_.getColourTertiary();
+                button.setAttribute('aria-selected', 'true');
+            }
+            button.style.backgroundColor = backgroundColor;
+            button.style.borderColor = this.sourceBlock_.getColourTertiary();
+            Blockly.bindEvent_(button, 'click', this, (this as any).buttonClick_);
+            Blockly.bindEvent_(button, 'mouseup', this, (this as any).buttonClick_);
+            // These are applied manually instead of using the :hover pseudoclass
+            // because Android has a bad long press "helper" menu and green highlight
+            // that we must prevent with ontouchstart preventDefault
+            Blockly.bindEvent_(button, 'mousedown', button, function (e) {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                e.preventDefault();
+            });
+            Blockly.bindEvent_(button, 'mouseover', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                contentDiv.setAttribute('aria-activedescendant', this.id);
+            });
+            Blockly.bindEvent_(button, 'mouseout', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton');
+                contentDiv.removeAttribute('aria-activedescendant');
+            });
+            let buttonImg = document.createElement('img');
+            buttonImg.src = content.src;
+            //buttonImg.alt = icon.alt;
+            // Upon click/touch, we will be able to get the clicked element as e.target
+            // Store a data attribute on all possible click targets so we can match it to the icon.
+            button.setAttribute('data-value', value);
+            buttonImg.setAttribute('data-value', value);
+            button.appendChild(buttonImg);
+            contentDiv.appendChild(button);
+        }
+        contentDiv.style.width = (this as any).width_ + 'px';
+        dropdownDiv.appendChild(contentDiv);
+
+        Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
+
+        // Calculate positioning based on the field position.
+        var scale = this.sourceBlock_.workspace.scale;
+        var bBox = { width: this.size_.width, height: this.size_.height };
+        bBox.width *= scale;
+        bBox.height *= scale;
+        var position = this.fieldGroup_.getBoundingClientRect();
+        var primaryX = position.left + bBox.width / 2;
+        var primaryY = position.top + bBox.height;
+        var secondaryX = primaryX;
+        var secondaryY = position.top;
+        // Set bounds to workspace; show the drop-down.
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
+            (this as any).onHide_.bind(this));
+    }
+}
--- a/editor/field_ports.ts
+++ b/editor/field_ports.ts
@ -0,0 +1,147 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldPortsOptions extends Blockly.FieldCustomDropdownOptions {
+    columns?: string;
+    width?: string;
+}
+
+export class FieldPorts extends Blockly.FieldDropdown implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    // Width in pixels
+    private width_: number;
+
+    // Columns in grid
+    private columns_: number;
+
+    private savedPrimary_: string;
+
+    constructor(text: string, options: FieldPortsOptions, validator?: Function) {
+        super(options.data);
+
+        this.columns_ = parseInt(options.columns) || 4;
+        this.width_ = parseInt(options.width) || 300;
+    }
+
+    /**
+     * Create a dropdown menu under the text.
+     * @private
+     */
+    public showEditor_() {
+        // If there is an existing drop-down we own, this is a request to hide the drop-down.
+        if (Blockly.DropDownDiv.hideIfOwner(this)) {
+            return;
+        }
+        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
+        Blockly.DropDownDiv.hideWithoutAnimation();
+        Blockly.DropDownDiv.clearContent();
+        // Populate the drop-down with the icons for this field.
+        let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
+        let contentDiv = document.createElement('div');
+        // Accessibility properties
+        contentDiv.setAttribute('role', 'menu');
+        contentDiv.setAttribute('aria-haspopup', 'true');
+        const options = this.getOptions();
+        for (let i = 0, option: any; option = options[i]; i++) {
+            let content = (options[i] as any)[0]; // Human-readable text or image.
+            const value = (options[i] as any)[1]; // Language-neutral value.
+            // Icons with the type property placeholder take up space but don't have any functionality
+            // Use for special-case layouts
+            if (content.type == 'placeholder') {
+                let placeholder = document.createElement('span');
+                placeholder.setAttribute('class', 'blocklyDropDownPlaceholder');
+                placeholder.style.width = content.width + 'px';
+                placeholder.style.height = content.height + 'px';
+                contentDiv.appendChild(placeholder);
+                continue;
+            }
+            let button = document.createElement('button');
+            button.setAttribute('id', ':' + i); // For aria-activedescendant
+            button.setAttribute('role', 'menuitem');
+            button.setAttribute('class', 'blocklyDropDownButton');
+            button.title = content.alt;
+            if (this.columns_) {
+                button.style.width = ((this.width_ / this.columns_) - 8) + 'px';
+                button.style.height = ((this.width_ / this.columns_) - 8) + 'px';
+            } else {
+                button.style.width = content.width + 'px';
+                button.style.height = content.height + 'px';
+            }
+            let backgroundColor = this.sourceBlock_.getColour();
+            if (value == this.getValue()) {
+                // This icon is selected, show it in a different colour
+                backgroundColor = this.sourceBlock_.getColourTertiary();
+                button.setAttribute('aria-selected', 'true');
+            }
+            button.style.backgroundColor = backgroundColor;
+            button.style.borderColor = this.sourceBlock_.getColourTertiary();
+            Blockly.bindEvent_(button, 'click', this, this.buttonClick_);
+            Blockly.bindEvent_(button, 'mouseup', this, this.buttonClick_);
+            // These are applied manually instead of using the :hover pseudoclass
+            // because Android has a bad long press "helper" menu and green highlight
+            // that we must prevent with ontouchstart preventDefault
+            Blockly.bindEvent_(button, 'mousedown', button, function (e) {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                e.preventDefault();
+            });
+            Blockly.bindEvent_(button, 'mouseover', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                contentDiv.setAttribute('aria-activedescendant', this.id);
+            });
+            Blockly.bindEvent_(button, 'mouseout', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton');
+                contentDiv.removeAttribute('aria-activedescendant');
+            });
+            let buttonImg = document.createElement('img');
+            buttonImg.src = content.src;
+            //buttonImg.alt = icon.alt;
+            // Upon click/touch, we will be able to get the clicked element as e.target
+            // Store a data attribute on all possible click targets so we can match it to the icon.
+            button.setAttribute('data-value', value);
+            buttonImg.setAttribute('data-value', value);
+            button.appendChild(buttonImg);
+            contentDiv.appendChild(button);
+        }
+        contentDiv.style.width = this.width_ + 'px';
+        dropdownDiv.appendChild(contentDiv);
+
+        Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
+
+        // Calculate positioning based on the field position.
+        var scale = this.sourceBlock_.workspace.scale;
+        var bBox = { width: this.size_.width, height: this.size_.height };
+        bBox.width *= scale;
+        bBox.height *= scale;
+        var position = this.fieldGroup_.getBoundingClientRect();
+        var primaryX = position.left + bBox.width / 2;
+        var primaryY = position.top + bBox.height;
+        var secondaryX = primaryX;
+        var secondaryY = position.top;
+        // Set bounds to workspace; show the drop-down.
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
+            this.onHide_.bind(this));
+    }
+
+    /**
+     * Callback for when a button is clicked inside the drop-down.
+     * Should be bound to the FieldIconMenu.
+     * @param {Event} e DOM event for the click/touch
+     * @private
+     */
+    private buttonClick_ = function (e: any) {
+        let value = e.target.getAttribute('data-value');
+        this.setValue(value);
+        Blockly.DropDownDiv.hide();
+    };
+
+    /**
+     * Callback for when the drop-down is hidden.
+     */
+    private onHide_ = function () {
+        Blockly.DropDownDiv.content_.removeAttribute('role');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
+    };
+}
--- a/editor/tsconfig.json
+++ b/editor/tsconfig.json
@ -1,12 +1,14 @@
 {
    "compilerOptions": {
        "target": "es5",
-        "noImplicitAny": true,
+        "noImplicitAny": false,
        "noImplicitReturns": true,
-        "declaration": true,
-        "out": "../built/editor.js",
+        "module": "commonjs",
+        "outDir": "../built/editor",
        "rootDir": ".",
        "newLine": "LF",
-        "sourceMap": false
+        "sourceMap": false,
+        "allowSyntheticDefaultImports": true,
+        "declaration": true
    }
 }
--- a/legoresources/MC22122017/01a
+++ b/legoresources/MC22122017/01a
--- a/legoresources/MC22122017/01b
+++ b/legoresources/MC22122017/01b
--- a/legoresources/MC22122017/01c
+++ b/legoresources/MC22122017/01c
--- a/legoresources/MC22122017/01c
+++ b/legoresources/MC22122017/01c
--- a/legoresources/MC22122017/02a
+++ b/legoresources/MC22122017/02a
--- a/legoresources/MC22122017/03a
+++ b/legoresources/MC22122017/03a
--- a/legoresources/MC22122017/03b
+++ b/legoresources/MC22122017/03b
--- a/legoresources/MC22122017/04a
+++ b/legoresources/MC22122017/04a
--- a/legoresources/MC22122017/04b
+++ b/legoresources/MC22122017/04b
--- a/legoresources/MC22122017/05a
+++ b/legoresources/MC22122017/05a
--- a/legoresources/MC22122017/05b
+++ b/legoresources/MC22122017/05b
--- a/legoresources/MC22122017/06
+++ b/legoresources/MC22122017/06
--- a/legoresources/MC22122017/06
+++ b/legoresources/MC22122017/06
--- a/legoresources/MC22122017/06
+++ b/legoresources/MC22122017/06
--- a/legoresources/MC22122017/07a
+++ b/legoresources/MC22122017/07a
--- a/legoresources/MC22122017/07b
+++ b/legoresources/MC22122017/07b
--- a/legoresources/MC22122017/08
+++ b/legoresources/MC22122017/08
--- a/legoresources/MC22122017/09a
+++ b/legoresources/MC22122017/09a
--- a/legoresources/MC22122017/10a
+++ b/legoresources/MC22122017/10a
--- a/legoresources/MC22122017/10b
+++ b/legoresources/MC22122017/10b
--- a/legoresources/MC22122017/10c
+++ b/legoresources/MC22122017/10c
--- a/legoresources/MC22122017/11a
+++ b/legoresources/MC22122017/11a
--- a/legoresources/MC22122017/11b
+++ b/legoresources/MC22122017/11b
--- a/legoresources/MC22122017/12a
+++ b/legoresources/MC22122017/12a
--- a/legoresources/MC22122017/12b
+++ b/legoresources/MC22122017/12b
--- a/legoresources/MC22122017/Loader
+++ b/legoresources/MC22122017/Loader
--- a/legoresources/MC22122017/Loader
+++ b/legoresources/MC22122017/Loader
--- a/legoresources/MC22122017/XX-blocks@2x.png
+++ b/legoresources/MC22122017/XX-blocks@2x.png
--- a/legoresources/MakeCode_overview.ai
+++ b/legoresources/MakeCode_overview.ai
--- a/legoresources/SVGassets/.DS_Store
+++ b/legoresources/SVGassets/.DS_Store
--- a/libs/color-sensor/_locales/color-sensor-jsdoc-strings.json
+++ b/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"
 }
--- a/libs/color-sensor/_locales/color-sensor-strings.json
+++ b/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` %sensor| color",
-  "sensors.ColorSensor.light|block": "`icons.colorSensor` %sensor|%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"
--- a/libs/color-sensor/color.ts
+++ b/libs/color-sensor/color.ts
@ -56,6 +56,7 @@ namespace sensors {

        constructor(port: number) {
            super(port)
+            this._setMode(ColorSensorMode.None);
            this.thresholdDetector = new sensors.internal.ThresholdDetector(this.id());
        }

@ -68,18 +69,27 @@ 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)
        }

        /**
         * Gets the current color mode
         */
-        colorMode() { 
+        colorMode() {
            return <ColorSensorMode>this.mode;
        }

        _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
        }
@ -97,12 +107,11 @@ 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"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=100 blockGap=8
        //% group="Color Sensor"
        onColorDetected(color: ColorSensorColor, handler: () => void) {
@ -113,17 +122,36 @@ namespace sensors {
                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
+        //% sensor.fieldEditor="ports"
+        //% weight=99 blockGap=8
+        //% group="Color Sensor"
+        pauseForColor(color: ColorSensorColor) {
+            this.setMode(ColorSensorMode.Color);
+            if (this.color() != color) {
+                const v = this._colorEventValue(<number>color);
+                control.waitForEvent(this._id, v);
+            }
+        }
+
        /**
         * Get the current color from the color sensor.
         * @param sensor the color sensor to query the request
         */
        //% help=sensors/color-sensor/color
-        //% block="`icons.colorSensor` %sensor| color"
+        //% block="%sensor| color"
        //% blockId=colorGetColor
        //% parts="colorsensor"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=99
        //% group="Color Sensor"
        color(): ColorSensorColor {
@ -137,17 +165,34 @@ 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"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% 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
+        //% sensor.fieldEditor="ports"
+        //% 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)
        }

        /**
@ -155,13 +200,12 @@ namespace sensors {
         * @param sensor the color sensor port
         */
        //% help=sensors/color-sensor/light
-        //% block="`icons.colorSensor` %sensor|%mode"
+        //% block="%sensor|%mode"
        //% blockId=colorLight
        //% parts="colorsensor"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
-        //% weight=88
+        //% sensor.fieldEditor="ports"
+        //% weight=87
        //% group="Color Sensor"
        light(mode: LightIntensityMode) {
            this.setMode(<ColorSensorMode><number>mode)
@ -179,15 +223,15 @@ namespace sensors {
        }
    }

-    //% whenUsed block="1" weight=95 fixedInstance jres=icons.port1
+    //% whenUsed block="color 1" weight=95 fixedInstance jres=icons.port1
    export const color1: ColorSensor = new ColorSensor(1)
-    
-    //% whenUsed block="2" weight=90 fixedInstance jres=icons.port2
+
+    //% whenUsed block="color 2" weight=90 fixedInstance jres=icons.port2
    export const color2: ColorSensor = new ColorSensor(2)

-    //% whenUsed block="3" weight=90 fixedInstance jres=icons.port3
+    //% whenUsed block="color 3" weight=90 fixedInstance jres=icons.port3
    export const color3: ColorSensor = new ColorSensor(3)

-    //% whenUsed block="4" weight=90 fixedInstance jres=icons.port4
+    //% whenUsed block="color 4" weight=90 fixedInstance jres=icons.port4
    export const color4: ColorSensor = new ColorSensor(4)
 }
--- a/libs/core/_locales/core-jsdoc-strings.json
+++ b/libs/core/_locales/core-jsdoc-strings.json
@ -21,8 +21,6 @@
  "brick.Button.pauseUntil": "Waits until the event is raised",
  "brick.Button.pauseUntil|param|ev": "the event to wait for",
  "brick.Button.wasPressed": "See if the button was pressed again since the last time you checked.",
-  "brick._imagePicker": "An image",
-  "brick._imagePicker|param|image": "the image",
  "brick.buttonDown": "Down button on the EV3 Brick.",
  "brick.buttonEnter": "Enter button on the EV3 Brick.",
  "brick.buttonLeft": "Left button on the EV3 Brick.",
@ -31,18 +29,21 @@
  "brick.clearScreen": "Clears the screen",
  "brick.lightPattern": "Pattern block.",
  "brick.lightPattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
-  "brick.print": "Show text on the screen.",
-  "brick.print|param|text": "the text to print on the screen, eg: \"Hello world\"",
-  "brick.print|param|x": "the starting position's x coordinate, eg: 0",
-  "brick.print|param|y": "the starting position's x coordinate, eg: 0",
-  "brick.setPixel": "Sets a pixel on or off",
-  "brick.setPixel|param|on": "a value indicating if the pixel should be on or off",
-  "brick.setPixel|param|x": "the starting position's x coordinate, eg: 0",
-  "brick.setPixel|param|y": "the starting position's x coordinate, eg: 0",
-  "brick.setStatusLight": "Set lights.",
-  "brick.setStatusLight|param|pattern": "the lights pattern to use.",
+  "brick.printLine": "Show text on the screen at a specific line.",
+  "brick.printLine|param|line": "the line number to print the text at, eg: 0",
+  "brick.printLine|param|text": "the text to print on the screen, eg: \"Hello world\"",
+  "brick.printPorts": "Prints the port states on the screen",
+  "brick.setLight": "Set lights.",
+  "brick.setLight|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.",
@ -51,35 +52,51 @@
  "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.clearCount": "Clears the motor count",
-  "motors.Motor.count": "Gets motor step count.",
-  "motors.Motor.move": "Moves the motor by a number of rotations, degress or seconds",
-  "motors.Motor.move|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
-  "motors.Motor.move|param|unit": "the meaning of the value",
-  "motors.Motor.move|param|value": "the move quantity, eg: 2",
-  "motors.Motor.port": "Gets the port where this motor is connected",
-  "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.setSpeed": "Sets the speed of the motor.",
-  "motors.Motor.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
+  "motors.Motor.angle": "Gets motor angle.",
+  "motors.Motor.clearCounts": "Clears the motor count",
  "motors.Motor.speed": "Gets motor actual speed.",
-  "motors.Motor.tachoCount": "Gets motor tacho count.",
-  "motors.SynchedMotorPair.moveSteering": "Turns the motor and the follower motor by a number of rotations",
-  "motors.SynchedMotorPair.moveSteering|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
-  "motors.SynchedMotorPair.moveSteering|param|steering": "the ratio of power sent to the follower motor, from ``-100`` to ``100``",
-  "motors.SynchedMotorPair.moveSteering|param|unit": "the meaning of the value",
-  "motors.SynchedMotorPair.moveSteering|param|value": "the move quantity, eg: 2",
-  "motors.SynchedMotorPair.moveTank": "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.moveTank|param|speedRight": "the speed on the right motor, eg: 50",
-  "motors.SynchedMotorPair.moveTank|param|unit": "@param speedLeft the speed on the left motor, eg: 50",
-  "motors.SynchedMotorPair.moveTank|param|value": "the amount of movement, eg: 2",
-  "motors.SynchedMotorPair.setBrake": "Sets the automatic brake on or off when the motor is off",
-  "motors.SynchedMotorPair.setBrake|param|brake": "a value indicating if the motor should break when off",
-  "motors.SynchedMotorPair.setSpeed": "Sets the speed of the motor.",
-  "motors.SynchedMotorPair.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
+  "motors.Motor.tacho": "Gets motor tachometer 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.drive": "Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)\nusing a unicycle model.",
+  "motors.SynchedMotorPair.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
+  "motors.SynchedMotorPair.drive|param|speed": "speed of the center point between motors, eg: 10",
+  "motors.SynchedMotorPair.drive|param|value": "the amount of movement, eg: 2",
+  "motors.SynchedMotorPair.setDimensions": "Sets the wheels radius and base length of a directional drive robot",
+  "motors.SynchedMotorPair.setDimensions|param|wheelRadius": "@param baseLength ",
+  "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|turnRatio": "the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0",
+  "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.",
--- a/libs/core/_locales/core-strings.json
+++ b/libs/core/_locales/core-strings.json
@ -13,8 +13,8 @@
  "LightsPattern.RedPulse|block": "Pulsing Red",
  "LightsPattern.Red|block": "Red",
  "MoveUnit.Degrees|block": "degrees",
+  "MoveUnit.MilliSeconds|block": "milliseconds",
  "MoveUnit.Rotations|block": "rotations",
-  "MoveUnit.Seconds|block": "seconds",
  "Output.AB|block": "A+B",
  "Output.AD|block": "A+D",
  "Output.ALL|block": "All",
@ -24,37 +24,40 @@
  "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.pauseUntil|block": "pause until `icons.brickButtons` %button|%event",
-  "brick.Button.wasPressed|block": "`icons.brickButtons` %button|was pressed",
-  "brick._imagePicker|block": "%image",
+  "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.buttonDown|block": "down",
  "brick.buttonEnter|block": "enter",
  "brick.buttonLeft|block": "left",
  "brick.buttonRight|block": "right",
  "brick.buttonUp|block": "up",
-  "brick.clearScreen|block": "`icons.brickDisplay` clear screen",
+  "brick.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=screen_image_picker",
+  "brick.printLine|block": "print %text| at line %line",
+  "brick.printPorts|block": "print ports",
+  "brick.setLight|block": "set light to %pattern=led_pattern",
+  "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|for %value|%unit|at %speed|%",
-  "motors.Motor.reset|block": "reset `icons.motorLarge` %motor",
-  "motors.Motor.setBrake|block": "set `icons.motorLarge` %motor|brake %brake",
-  "motors.Motor.setReversed|block": "set `icons.motorLarge` %motor|reversed %reversed",
-  "motors.Motor.setSpeed|block": "set speed of `icons.motorLarge` %motor|to %speed|%",
-  "motors.Motor.speed|block": "`icons.motorLarge` %motor|speed",
-  "motors.Motor.tachoCount|block": "`icons.motorLarge` %motor|tacho count",
-  "motors.SynchedMotorPair.moveSteering|block": "move steering %chassis|at %speed|%|steer %turnRadio|%|by %value|%unit",
-  "motors.SynchedMotorPair.moveTank|block": "move tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit",
-  "motors.SynchedMotorPair.setBrake|block": "set `icons.motorLarge` %chassis|brake %brake",
-  "motors.SynchedMotorPair.setSpeed|block": "set speed of `icons.motorLarge` %motor|to %speed|%",
+  "motors.Motor.angle|block": "%motor|angle",
+  "motors.Motor.clearCounts|block": "%motor|clear counts",
+  "motors.Motor.speed|block": "%motor|speed",
+  "motors.Motor.tacho|block": "%motor|tacho",
+  "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.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
+  "motors.SynchedMotorPair.steer|block": "steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit",
+  "motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit",
  "motors.largeAB|block": "large A+B",
  "motors.largeAD|block": "large A+D",
  "motors.largeA|block": "large A",
@ -71,8 +74,10 @@
  "motors|block": "motors",
  "output|block": "output",
  "screen|block": "screen",
+  "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",
--- a/libs/core/buttons.ts
+++ b/libs/core/buttons.ts
@ -66,6 +66,7 @@ namespace brick {

        //% hidden
        _update(curr: boolean) {
+            if (this == null) return
            if (this._isPressed == curr) return
            this._isPressed = curr
            if (curr) {
@ -85,7 +86,7 @@ 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
@ -100,11 +101,11 @@ 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
-        //% weight=80 blockGap=8
+        //% weight=80
        //% group="Buttons"
        wasPressed() {
            const r = this._wasPressed
@ -119,7 +120,7 @@ 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
@ -133,7 +134,7 @@ namespace brick {
         * @param ev the event to wait for
         */
        //% help=input/button/pause-until
-        //% blockId=buttonWaitUntil block="pause until `icons.brickButtons` %button|%event"
+        //% blockId=buttonWaitUntil block="pause until %button|%event"
        //% parts="brick"
        //% blockNamespace=brick
        //% weight=98 blockGap=8
@ -248,9 +249,9 @@ 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
--- a/libs/core/console.ts
+++ b/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();
+    }
+}
--- a/libs/core/images.ts
+++ b/libs/core/images.ts
@ -1,260 +1,260 @@
 namespace images {
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsBigSmile = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsHeartLarge = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsHeartSmall = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsMouth1open = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsMouth1shut = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsMouth2open = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsMouth2shut = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsSad = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsSick = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsSmile = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsSwearing = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsTalking = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsWink = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const expressionsZzz = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesAngry = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesAwake = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesBlackEye = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesBottomLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesBottomRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesCrazy1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesCrazy2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesDisappointed = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesDizzy = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesDown = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesEvil = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesHurt = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesKnockedOut = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesLove = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesMiddleLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesMiddleRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesNeutral = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesNuclear = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesPinchLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesPinchMiddle = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesPinchRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesSleeping = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesTear = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesTiredLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesTiredMiddle = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesTiredRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesToxic = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesUp = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const eyesWinking = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationAccept = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationBackward = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationDecline = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationForward = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationLeft = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationNoGo = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationQuestionMark = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationRight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationStop1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationStop2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationThumbsDown = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationThumbsUp = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const informationWarning = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoColorSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoEv3icon = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoEv3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoGyroSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoIrBeacon = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoIrSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoLego = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoLargeMotor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoMindstorms = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoMediumMotor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoSoundSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoTempSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoTouchSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const legoUsSensor = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsBomb = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsBoom = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsFire = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsFlowers = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsForest = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsLightOff = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsLightOn = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsLightning = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsNight = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsPirate = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsSnow = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const objectsTarget = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressBar0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressBar1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressBar2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressBar3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressBar4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressDial0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressDial1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressDial2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressDial3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressDial4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressDots0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressDots1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressDots2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressDots3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressHourglass0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressHourglass1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressHourglass2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressTimer0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressTimer1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressTimer2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressTimer3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressTimer4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressWaterLevel0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressWaterLevel1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressWaterLevel2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const progressWaterLevel3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemAccept1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemAccept2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemAlert = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemBox = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemBusy0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemBusy1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemDecline1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemDecline2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemDotEmpty = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemDotFull = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemEv3small = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemPlay = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemSlider0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemSlider1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemSlider2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemSlider3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemSlider4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemSlider5 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemSlider6 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemSlider7 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemSlider8 = screen.unpackPNG(hex``);
 }
--- a/libs/core/input.cpp
+++ b/libs/core/input.cpp
@ -0,0 +1,11 @@
+#include "pxt.h"
+
+namespace sensors {
+
+/**
+ *  Mark a sensor as used
+ */
+//%
+void __sensorUsed(int port, int type) {
+}
+}
--- a/libs/core/input.ts
+++ b/libs/core/input.ts
@ -74,6 +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
@ -142,6 +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() { }
@ -191,7 +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;
@ -204,6 +214,7 @@ namespace sensors.internal {
        }

        public setLevel(level: number) {
+            if (this == null) return
            this.level = this.clampValue(level);

            if (this.level >= this.highThreshold) {
--- a/libs/core/output.cpp
+++ b/libs/core/output.cpp
@ -20,3 +20,13 @@ void target_init() {
 }

 }
+
+namespace motors {
+
+/**
+ *  Mark a motor as used
+ */
+//%
+void __motorUsed(int port, bool large) {
+}
+}
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@ -14,7 +14,7 @@ enum Output {
    //% block="C+D"
    CD = Output.C | Output.D,
    //% block="A+D"
-    AD = Output.B | Output.C,
+    AD = Output.A | Output.D,
    //% block="All"
    ALL = 0x0f
 }
@ -30,8 +30,8 @@ enum MoveUnit {
    Rotations,
    //% block="degrees"
    Degrees,
-    //% block="seconds"
-    Seconds
+    //% block="milliseconds"
+    MilliSeconds
 }

 namespace motors {
@ -53,97 +53,169 @@ namespace motors {
        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 motors"
-    //% weight=97
+    //% weight=5
    //% 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;
-
+    export class MotorBase extends control.Component {
+        protected _port: Output;
+        protected _portName: string;
+        protected _brake: boolean;
        private _initialized: boolean;
-        private _brake: 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._portName = outputToName(this._port);
            this._brake = false;
+            this._initialized = false;
+            this._init = init;
+            this._setSpeed = setSpeed;
+            this._move = move;
        }

-        private __init() {
+        /**
+         * Lazy initialization code
+         */
+        protected init() {
            if (!this._initialized) {
-                // specify motor size on this port            
-                const b = mkCmd(this._port, DAL.opOutputSetType, 1)
-                b.setNumber(NumberFormat.Int8LE, 2, this._large ? 0x07 : 0x08)
-                writePWM(b)
+                this._initialized = true;
+                this._init();
            }
        }

        /**
-         * Gets the port where this motor is connected
+         * Sets the automatic brake on or off when the motor is off
+         * @param brake a value indicating if the motor should break when off
+         */
+        //% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake"
+        //% brake.fieldEditor=toggleonoff
+        //% weight=60 blockGap=8
+        //% group="Motion"
+        setBrake(brake: boolean) {
+            this.init();
+            this._brake = brake;
+        }
+
+        /** 
+         * Reverses the motor polarity
+        */
+        //% blockId=motorSetReversed block="set %motor|reversed %reversed"
+        //% reversed.fieldEditor=toggleonoff
+        //% weight=59
+        //% group="Motion"
+        setReversed(reversed: boolean) {
+            this.init();
+            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
+            b.setNumber(NumberFormat.Int8LE, 2, reversed ? 0 : 1);
+            writePWM(b)
+        }
+
+        /**
+         * Stops the motor(s).
         */
        //%
-        //% group="Motion"
-        port(): Output {
-            return this._port;
+        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 `icons.motorLarge` %motor|to %speed|%"
+        //% 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();
+            this.init();
            speed = Math.clamp(-100, 100, speed >> 0);
-            if (!speed) { // always stop
+            if (!speed) // always stop
                this.stop();
-            } else {
-                const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
-                b.setNumber(NumberFormat.Int8LE, 2, speed)
-                writePWM(b)
-            }
+            else
+                this._setSpeed(speed);
        }

        /**
@ -152,22 +224,17 @@ namespace motors {
         * @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 `icons.motorLarge` %motor|for %value|%unit|at %speed|%"
+        //% 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.output(value, unit, speed, 0);
-        }
-
-        private output(value: number, unit: MoveUnit, speed: number, turnRatio: number) {
-            this.__init();
+            this.init();
            speed = Math.clamp(-100, 100, speed >> 0);
            if (!speed) {
                this.stop();
                return;
            }
-            turnRatio = Math.clamp(-200, 200, turnRatio >> 0);
            let useSteps: boolean;
            let stepsOrTime: number;
            switch (unit) {
@ -185,8 +252,72 @@ namespace motors {
                    break;
            }

+            this._move(useSteps, stepsOrTime, speed);
+        }
+
+        /**
+         * Returns a value indicating if the motor is still running a previous command.
+         */
+        //% group="Sensors"
+        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"
+        //% weight=97
+        //% 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: useSteps,
+                useSteps: steps,
                step1: 0,
                step2: stepsOrTime,
                step3: 0,
@ -195,83 +326,54 @@ namespace motors {
            })
        }

-        /**
-         * Stops the motor
-         */
-        private stop() {
-            this.__init();
-            stop(this._port);
-        }
-
-        /**
-         * 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"
-        //% brake.fieldEditor=toggleonoff
-        //% weight=60 blockGap=8
-        //% group="Motion"
-        setBrake(brake: boolean) {
-            this.__init();
-            this._brake = brake;
-        }
-
-        /** 
-         * Reverses the motor polarity
-        */
-        //% blockId=motorSetReversed block="set `icons.motorLarge` %motor|reversed %reversed"
-        //% reversed.fieldEditor=toggleonoff
-        //% weight=59
-        //% group="Motion"
-        setReversed(reversed: boolean) {
-            this.__init();
-            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
-            b.setNumber(NumberFormat.Int8LE, 2, reversed ? -1 : 1);
-            writePWM(b)
-        }
-
        /**
         * Gets motor actual speed.
         * @param motor the port which connects to the motor
         */
-        //% blockId=motorSpeed block="`icons.motorLarge` %motor|speed"
-        //% weight=72 blockGap=8
+        //% blockId=motorSpeed block="%motor|speed"
+        //% weight=72 
+        //% blockGap=8
        //% group="Sensors"
        speed(): number {
-            this.__init();
+            this.init();
            return getMotorData(this._port).actualSpeed;
        }

        /**
-         * Gets motor step count.
+         * Gets motor angle.
         * @param motor the port which connects to the motor
         */
-        //% blockId=motorCount block="`icons.motorLarge` %motor|count"
-        //% weight=71 blockGap=8
+        //% blockId=motorTachoCount block="%motor|angle"
+        //% weight=70
        //% group="Sensors"
-        count(): number {
-            this.__init();
+        angle(): number {
+            this.init();
            return getMotorData(this._port).count;
        }

+
        /**
-         * Gets motor tacho count.
+         * Gets motor tachometer count.
         * @param motor the port which connects to the motor
         */
-        //% blockId=motorTachoCount block="`icons.motorLarge` %motor|tacho count"
-        //% weight=70
+        //% blockId=motorTachoCount block="%motor|tacho"
+        //% weight=69
+        //% blockGap=8
        //% group="Sensors"
-        tachoCount(): number {
-            this.__init();
+        tacho(): number {
+            this.init();
            return getMotorData(this._port).tachoCount;
        }

        /**
         * Clears the motor count
         */
-        //% group="Motion"
-        clearCount() {
-            this.__init();
+        //% blockId=motorClearCount block="%motor|clear counts"
+        //% weight=68
+        //% blockGap=8
+        //% group="Sensors"
+        clearCounts() {
+            this.init();
            const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
            writePWM(b)
            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
@ -282,14 +384,11 @@ namespace motors {
        }

        /**
-         * Resets the motor.
+         * Returns the status of the motor
         */
-        //% blockId=motorReset block="reset `icons.motorLarge` %motor"
-        //% weight=20
-        //% group="Motion"
-        reset() {
-            this.__init();
-            reset(this._port);
+        //%
+        toString(): string {
+            return `${this._large ? "" : "M"}${this._portName} ${this.speed()}% ${this.angle()}>`;
        }
    }

@ -318,91 +417,44 @@ namespace motors {
    export const mediumD = new Motor(Output.D, false);

    //% fixedInstances
-    export class SynchedMotorPair extends control.Component {
-        private _ports: Output;
-        private _brake: boolean;
+    export class SynchedMotorPair extends MotorBase {
+        private wheelRadius: number;
+        private baseLength: number;

        constructor(ports: Output) {
-            super();
-            this._ports = ports;
-            this._brake = false;
+            super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
+            this.wheelRadius = 3;
+            this.baseLength = 12;
+            this.markUsed();
        }

-        /**
-         * Sets the speed of the motor.
-         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
-         */
-        //% blockId=motorPairSetSpeed block="set speed of `icons.motorLarge` %motor|to %speed|%"
-        //% on.fieldEditor=toggleonoff
-        //% weight=99 blockGap=8
-        //% speed.min=-100 speed.max=100
-        //% group="Chassis"
-        setSpeed(speed: number) {
-            speed = Math.clamp(speed >> 0, -100, 100);
-            if (!speed) {
-                stop(this._ports);
-                return;
+        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)
+                }
            }
-            syncMotors(this._ports, {
+        }
+
+        private __setSpeed(speed: number) {
+            syncMotors(this._port, {
                speed: speed,
                turnRatio: 0,
                useBrake: !!this._brake
            })
        }

-        /**
-         * 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=motorPairSetBrakeMode block="set `icons.motorLarge` %chassis|brake %brake"
-        //% brake.fieldEditor=toggleonoff
-        //% weight=60 blockGap=8
-        //% group="Chassis"
-        setBrake(brake: boolean) {
-            this._brake = 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 speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
-         * @param steering the ratio of power sent to the follower motor, from ``-100`` to ``100``
-         */
-        //% blockId=motorPairTurn block="move steering %chassis|at %speed|%|steer %turnRadio|%|by %value|%unit"
-        //% weight=9 blockGap=8
-        //% steering.min=-100 steering=100
-        //% inlineInputMode=inline
-        //% group="Chassis"
-        moveSteering(steering: number, speed: number, value: number, unit: MoveUnit) {
-            speed = Math.clamp(-100, 100, speed >> 0);
-            if (!speed) {
-                stop(this._ports);
-                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._ports, {
-                useSteps: useSteps,
+        private __move(steps: boolean, stepsOrTime: number, speed: number) {
+            syncMotors(this._port, {
+                useSteps: steps,
                speed: speed,
-                turnRatio: turnRatio,
+                turnRatio: 100, // same speed
                stepsOrTime: stepsOrTime,
                useBrake: this._brake
            });
@ -419,17 +471,131 @@ namespace motors {
         * @param speedLeft the speed on the left motor, eg: 50
         * @param speedRight the speed on the right motor, eg: 50
         */
-        //% blockId=motorPairTank block="move tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit"
+        //% blockId=motorPairTank block="tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit"
        //% weight=9 blockGap=8
        //% speedLeft.min=-100 speedLeft=100
        //% speedRight.min=-100 speedRight=100
        //% inlineInputMode=inline
        //% group="Chassis"
-        moveTank(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.moveSteering(speedLeft, steering, value, unit);
+        tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
+            this.init();
+
+            speedLeft = Math.clamp(-100, 100, speedLeft >> 0);
+            speedRight = Math.clamp(-100, 100, speedRight >> 0);
+
+            const speed = Math.abs(speedLeft) > Math.abs(speedRight) ? speedLeft : speedRight;
+            const turnRatio = speedLeft == speed
+                ? (100 - speedRight / speedLeft * 100)
+                : (speedLeft / speedRight * 100 - 100);
+            this.steer(turnRatio, speed, value, unit);
+        }
+
+        /**
+         * Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)
+         * using a unicycle model.
+         * @param speed speed of the center point between motors, eg: 10
+         * @param rotationSpeed rotation of the robot around the center point, eg: 30
+         * @param value the amount of movement, eg: 2
+         * @param unit 
+         */
+        //% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit"
+        //% inlineInputMode=inline
+        //% group="Chassis"
+        //% weight=8 blockGap=8
+        drive(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
+            this.init();
+
+            // speed is expressed in %
+            const R = this.wheelRadius; // cm
+            const L = this.baseLength; // cm
+            const PI = 3.14;
+            const maxw = 170 / 60 * 2 * PI; // rad / s
+            const maxv = maxw * R; // cm / s
+            // speed is cm / s
+            const v = speed; // cm / s
+            const w = rotationSpeed / 360 * 2 * PI; // rad / s
+
+            const vr = (2 * v + w * L) / (2 * R); // rad / s
+            const vl = (2 * v - w * L) / (2 * R); // rad / s
+
+            const sr = vr / maxw * 100; // % 
+            const sl = vl / maxw * 100; // %
+
+            this.tank(sr, sl, value, unit)
+        }    
+        
+        /**
+         * Turns the motor and the follower motor by a number of rotations
+         * @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0
+         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
+         * @param value the move quantity, eg: 2
+         * @param unit the meaning of the value
+         */
+        //% blockId=motorPairTurn block="steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit"
+        //% weight=6 blockGap=8
+        //% turnRatio.min=-200 turnRatio=200
+        //% inlineInputMode=inline
+        //% group="Chassis"
+        steer(turnRatio: number, speed: number, value: number, unit: MoveUnit) {
+            this.init();
+            speed = Math.clamp(-100, 100, speed >> 0);
+            if (!speed) {
+                stop(this._port, this._brake);
+                return;
+            }
+
+            turnRatio = Math.clamp(-200, 200, turnRatio >> 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 >> 0;
+                    useSteps = false;
+                    break;
+            }
+
+            syncMotors(this._port, {
+                useSteps: useSteps,
+                speed: speed,
+                turnRatio: turnRatio,
+                stepsOrTime: stepsOrTime,
+                useBrake: this._brake
+            });
+        }        
+
+        /**
+         * Sets the wheels radius and base length of a directional drive robot
+         * @param wheelRadius 
+         * @param baseLength 
+         */
+        //% group="Chassis"
+        setDimensions(wheelRadius: number, baseLength: number): void {
+            this.wheelRadius = wheelRadius;
+            this.baseLength = baseLength;
+        }
+
+        /**
+         * Returns the name(s) of the motor
+         */
+        //%
+        toString(): string {
+            this.init();
+
+            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;
        }
    }

@ -446,8 +612,8 @@ namespace motors {
    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) {
@ -458,7 +624,7 @@ namespace motors {
        return 0
    }

-    interface MotorData {
+    export interface MotorData {
        actualSpeed: number; // -100..+100
        tachoCount: number;
        count: number;
@ -467,7 +633,7 @@ namespace motors {
    // only a single output at a time
    function getMotorData(out: Output): MotorData {
        init()
-        let buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
+        const buf = motorMM.slice(outOffset(out), MotorDataOff.Size)
        return {
            actualSpeed: buf.getNumber(NumberFormat.Int8LE, MotorDataOff.Speed),
            tachoCount: buf.getNumber(NumberFormat.Int32LE, MotorDataOff.TachoCounts),
@ -475,6 +641,11 @@ 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;
@ -513,9 +684,9 @@ namespace motors {
        writePWM(b);
    }

-    function stop(out: Output) {
+    function stop(out: Output, brake: boolean) {
        const b = mkCmd(out, DAL.opOutputStop, 1)
-        b.setNumber(NumberFormat.UInt8LE, 2, this.brake ? 1 : 0)
+        b.setNumber(NumberFormat.UInt8LE, 2, brake ? 1 : 0)
        writePWM(b);
    }

--- a/libs/core/pxt.json
+++ b/libs/core/pxt.json
@ -10,6 +10,7 @@
        "linux.cpp",
        "mmap.cpp",
        "control.cpp",
+        "console.ts",
        "serialnumber.cpp",
        "buttons.ts",
        "png.cpp",
@ -18,6 +19,7 @@
        "output.cpp",
        "output.ts",
        "core.ts",
+        "input.cpp",
        "input.ts",
        "shims.d.ts",
        "enums.d.ts",
--- a/libs/core/screen.ts
+++ b/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 { }

@ -78,15 +80,6 @@ namespace brick {
        }
    }

-    /**
-     * Sets a pixel on or off
-     * @param on a value indicating if the pixel should be on or off
-     * @param x the starting position's x coordinate, eg: 0
-     * @param y the starting position's x coordinate, eg: 0
-     */
-    //% blockId=screen_setpixel block="`icons.brickDisplay` set pixel %on| at x: %x| y: %y"
-    //% weight=98 group="Screen"
-    //% x.min=0 x.max=178 y.min=0 y.max=128 on.fieldEditor=toggleonoff
    export function setPixel(on: boolean, x: number, y: number) {
        x |= 0
        y |= 0
@ -95,14 +88,20 @@ namespace brick {
    }

    /**
-     * Show text on the screen.
+     * Show text on the screen at a specific line.
     * @param text the text to print on the screen, eg: "Hello world"
-     * @param x the starting position's x coordinate, eg: 0
-     * @param y the starting position's x coordinate, eg: 0
+     * @param line the line number to print the text at, eg: 0
     */
-    //% blockId=screen_print block="`icons.brickDisplay` print %text| at x: %x| y: %y"
-    //% weight=99 group="Screen" inlineInputMode="inline" blockGap=8
-    //% x.min=0 x.max=178 y.min=0 y.max=128
+    //% blockId=screen_print block="print %text| at line %line"
+    //% weight=98 group="Screen" inlineInputMode="inline" blockGap=8
+    //% line.min=0 line.max=9
+    export function printLine(text: string, line: number) {
+        const NUM_LINES = 9;
+        const offset = 5;
+        const y = offset + (Math.clamp(0, NUM_LINES, line) / (NUM_LINES + 2)) * DAL.LCD_HEIGHT;
+        brick.print(text, offset, y);
+    }
+
    export function print(text: string, x: number, y: number, mode = Draw.Normal) {
        x |= 0
        y |= 0
@ -137,8 +136,8 @@ namespace brick {
     * Shows an image on screen
     * @param image image to draw
     */
-    //% blockId=screen_show_image block="`icons.brickDisplay` show image %image=screen_image_picker"
-    //% weight=95 group="Screen" blockGap=8
+    //% blockId=screen_show_image block="show image %image=screen_image_picker"
+    //% weight=100 group="Screen" blockGap=8
    export function showImage(image: Image, delay: number = 400) {
        if (!image) return;
        image.draw(0, 0, Draw.Normal);
@ -152,19 +151,19 @@ namespace brick {
     * @param image the image
     */
    //% blockId=screen_image_picker block="%image" shim=TD_ID
-    //% image.fieldEditor="imagedropdown"
+    //% image.fieldEditor="images"
    //% image.fieldOptions.columns=6
-    //% image.fieldOptions.hasSearchBar=true
+    //% image.fieldOptions.width=600
    //% group="Screen" weight=0 blockHidden=1
-    export function _imagePicker(image: Image): Image {
+    export function __imagePicker(image: Image): Image {
        return image;
    }

    /**
     * Clears the screen
     */
-    //% blockId=screen_clear_screen block="`icons.brickDisplay` clear screen"
-    //% weight=94 group="Screen" blockGap=8
+    //% blockId=screen_clear_screen block="clear screen"
+    //% weight=90 group="Screen"
    export function clearScreen() {
        screen.clear();
    }
@ -208,5 +207,36 @@ 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 data = datas[i];
+            if (!data.actualSpeed && !data.count) continue;
+            const x = i * 52;
+            print(`${data.actualSpeed}%`, x, brick.LINE_HEIGHT)
+            print(`${data.count}>`, x, 2 * brick.LINE_HEIGHT)
+
+            console.logValue(`speed.` + "ABCD"[i], data.actualSpeed);
+            console.logValue(`angle.` + "ABCD"[i], data.count);
+        }
+
+        // sensors
+        const sis = sensors.internal.getActiveSensors();
+        for(let i =0; i < sis.length; ++i) {
+            const si = sis[i];
+            const x = (si.port() - 1) * 52;
+            const v = si._query();
+            print(`${v}`, x, 9 * brick.LINE_HEIGHT)
+
+            console.logValue(`sensor.` + si.port(), v);
+        }
+    }
 }
--- a/libs/core/shims.d.ts
+++ b/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.
--- a/libs/core/sim/analogSensor.ts
+++ b/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;
-            }
-        }
-    }
-}
--- a/libs/core/sim/pins.ts
+++ b/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
-    }
-}
-
--- a/libs/core/test.ts
+++ b/libs/core/test.ts
@ -2,7 +2,7 @@ screen.clear()
 brick.print("PXT!", 10, 30, Draw.Quad)

 brick.drawRect(40, 40, 20, 10, Draw.Fill)
-brick.setStatusLight(LightsPattern.Orange)
+brick.setLight(LightsPattern.Orange)

 brick.heart.doubled().draw(100, 50, Draw.Double | Draw.Transparent)

@ -12,7 +12,7 @@ brick.buttonEnter.onEvent(ButtonEvent.Click, () => {

 brick.buttonLeft.onEvent(ButtonEvent.Click, () => {
    brick.drawRect(10, 70, 20, 10, Draw.Fill)
-    brick.setStatusLight(LightsPattern.Red)
+    brick.setLight(LightsPattern.Red)
    brick.setFont(brick.microbitFont())
 })

--- a/libs/ev3/ns.ts
+++ b/libs/ev3/ns.ts
@ -1,26 +1,30 @@

-//% color="#68C3E2" weight=100
-//% groups='["Light", "Buttons", "Screen"]'
+//% color="#68C3E2" weight=100 icon="\uf106"
+//% groups='["Buttons", "Screen"]'
+//% labelLineWidth=0
 namespace brick {
 }


-//% color="#C8509B" weight=95 icon="\uf192"
+//% color="#C8509B" weight=95 icon="\uf10f"
+//% labelLineWidth=0
 //% groups='["Ultrasonic Sensor", "Touch Sensor", "Color Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
+//% groupIcons='["\uf101","\uf103","\uf102","","","\uf104"]'
 namespace sensors {
 }

-//% color="#A5CA18" weight=90 icon="\uf185"
+//% color="#A5CA18" weight=90 icon="\uf10d"
 //% groups='["Motion", "Sensors", "Chassis"]'
+//% labelLineWidth=0
 namespace motors {
 }

-//% color="#D67923" weight=80
+//% color="#D67923" weight=80 icon="\uf10e"
 namespace music {

 }

-//% color="#48150C"
+//% color="#5F3109" icon="\uf107"
 namespace control {

 }
--- a/libs/gyro-sensor/_locales/gyro-sensor-strings.json
+++ b/libs/gyro-sensor/_locales/gyro-sensor-strings.json
@ -1,10 +1,10 @@
 {
-  "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.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"
 }
--- a/libs/gyro-sensor/gyro.ts
+++ b/libs/gyro-sensor/gyro.ts
@ -24,12 +24,11 @@ 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"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=65 blockGap=8
        //% group="Gyro Sensor"
        angle(): number {
@ -42,12 +41,11 @@ 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"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=65 blockGap=8        
        //% group="Gyro Sensor"
        rate(): number {
@ -56,15 +54,15 @@ namespace sensors {
        }
    }

-    //% fixedInstance whenUsed block="1" jres=icons.port1
+    //% fixedInstance whenUsed block="gyro 1" jres=icons.port1
    export const gyro1: GyroSensor = new GyroSensor(1)

-    //% fixedInstance whenUsed block="2" weight=95 jres=icons.port2
+    //% fixedInstance whenUsed block="gyro 2" weight=95 jres=icons.port2
    export const gyro2: GyroSensor = new GyroSensor(2)

-    //% fixedInstance whenUsed block="3" jres=icons.port3
+    //% fixedInstance whenUsed block="gyro 3" jres=icons.port3
    export const gyro3: GyroSensor = new GyroSensor(3)

-    //% fixedInstance whenUsed block="4" jres=icons.port4
+    //% fixedInstance whenUsed block="gyro 4" jres=icons.port4
    export const gyro4: GyroSensor = new GyroSensor(4)
 }
--- a/libs/infrared-sensor/_locales/infrared-sensor-strings.json
+++ b/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.pauseUntil|block": "pause until `icons.infraredSensor` %sensor| %event",
-  "sensors.InfraredSensor.proximity|block": "`icons.infraredSensor` %sensor|proximity",
-  "sensors.InfraredSensor.remoteCommand|block": "`icons.infraredSensor` %sensor|remote command",
-  "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",
--- a/libs/infrared-sensor/ir.ts
+++ b/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
@ -108,11 +108,11 @@ 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
-        //% weight=80 blockGap=8
+        //% weight=80
        //% group="Remote Infrared Beacon"
        wasPressed() {
            return this.button.wasPressed();
@ -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
@ -189,11 +189,9 @@ 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"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
        //% weight=100 blockGap=8
        //% group="Infrared Sensor"
@ -205,11 +203,9 @@ namespace sensors {
         * Waits for the event to occur
         */
        //% help=input/ultrasonic/wait
-        //% block="pause until `icons.infraredSensor` %sensor| %event"
+        //% block="pause until %sensor| %event"
        //% blockId=infraredwait
        //% parts="infraredsensor"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
        //% weight=99 blockGap=8
        //% group="Infrared Sensor"
@ -222,11 +218,9 @@ namespace sensors {
         * @param sensor the infrared sensor
         */
        //% help=input/infrared/proximity
-        //% block="`icons.infraredSensor` %sensor|proximity"
+        //% block="%sensor|proximity"
        //% blockId=infraredGetProximity
        //% parts="infrared"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
        //% weight=65 blockGap=8   
        //% group="Infrared Sensor"     
@ -240,13 +234,11 @@ namespace sensors {
         * @param sensor the infrared sensor
         */
        //% help=input/infrared/remote-command
-        //% block="`icons.infraredSensor` %sensor|remote command"
+        //% block="%sensor|remote command"
        //% blockId=infraredGetRemoteCommand
        //% parts="infrared"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
-        //% weight=65 blockGap=8        
+        //% weight=65       
        //% group="Infrared Sensor"     
        remoteCommand(): number {
            this._setMode(IrSensorMode.RemoteControl)
@ -260,16 +252,16 @@ namespace sensors {
        }
    }

-    //% fixedInstance whenUsed block="1" jres=icons.port1
+    //% fixedInstance whenUsed block="infrared 1" jres=icons.port1
    export const infraredSensor1: InfraredSensor = new InfraredSensor(1)

-    //% fixedInstance whenUsed block="2" jres=icons.port2
+    //% fixedInstance whenUsed block="infrared 2" jres=icons.port2
    export const infraredSensor2: InfraredSensor = new InfraredSensor(2)

-    //% fixedInstance whenUsed block="3" jres=icons.port3
+    //% fixedInstance whenUsed block="infrared 3" jres=icons.port3
    export const infraredSensor3: InfraredSensor = new InfraredSensor(3)

-    //% fixedInstance whenUsed block="4" jres=icons.port4
+    //% fixedInstance whenUsed block="infrared 4" jres=icons.port4
    export const infraredSensor4: InfraredSensor = new InfraredSensor(4)


--- a/libs/music/_locales/music-jsdoc-strings.json
+++ b/libs/music/_locales/music-jsdoc-strings.json
@ -2,8 +2,6 @@
  "Sound.buffer": "Returns the underlaying Buffer object.",
  "Sound.play": "Play sound.",
  "music": "Generation of music tones.",
-  "music._soundPicker": "A sound",
-  "music._soundPicker|param|sound": "the sound",
  "music.beat": "Return the duration of a beat in milliseconds (the beat fraction).",
  "music.beat|param|fraction": "the fraction of the current whole note, eg: BeatFraction.Half",
  "music.changeTempoBy": "Change the tempo up or down by some amount of beats per minute (bpm).",
--- a/libs/music/_locales/music-strings.json
+++ b/libs/music/_locales/music-strings.json
@ -20,7 +20,6 @@
  "Note.GSharp|block": "G#",
  "SoundOutputDestination.Pin|block": "pin",
  "SoundOutputDestination.Speaker|block": "speaker",
-  "music._soundPicker|block": "%sound",
  "music.beat|block": "%fraction|beat",
  "music.changeTempoBy|block": "change tempo by %value|(bpm)",
  "music.noteFrequency|block": "%note",
--- a/libs/music/music.cpp
+++ b/libs/music/music.cpp
@ -170,7 +170,7 @@ void playTone(int frequency, int ms) {
 //% blockId=music_stop_all_sounds block="stop all sounds"
 //% parts="headphone"
 //% blockNamespace=music
-//% weight=76 blockGap=8
+//% weight=97
 void stopAllSounds() {
    if (currentSample) {
        samplePtr = currentSample->length;
--- a/libs/music/shims.d.ts
+++ b/libs/music/shims.d.ts
@ -32,7 +32,7 @@ declare namespace music {
    //% blockId=music_stop_all_sounds block="stop all sounds"
    //% parts="headphone"
    //% blockNamespace=music
-    //% weight=76 blockGap=8 shim=music::stopAllSounds
+    //% weight=97 shim=music::stopAllSounds
    function stopAllSounds(): void;

    /** Makes a sound bound to a buffer in WAV format. */
--- a/libs/music/sounds.ts
+++ b/libs/music/sounds.ts
@ -264,7 +264,7 @@ namespace music {
     * @param sound the sound to play
     */
    //% blockId=music_play_sound_effect_until_done block="play sound effect %sound|until done"
-    //% weight=98
+    //% weight=98 blockGap=8
    export function playSoundEffectUntilDone(sound: Sound) {
        if (!sound) return;
        sound.play();
@ -276,7 +276,7 @@ namespace music {
     */
    //% blockId=music_sound_picker block="%sound" shim=TD_ID
    //% weight=0 blockHidden=1
-    export function _soundPicker(sound: Sound): Sound {
+    export function __soundPicker(sound: Sound): Sound {
        return sound;
    }

@ -285,7 +285,7 @@ namespace music {
     * @param sound the sound to play
     */
    //% blockId=music_play_sound_effect block="play sound effect %sound"
-    //% weight=99
+    //% weight=99 blockGap=8
    export function playSoundEffect(sound: Sound) {
        if (!sound || numSoundsPlaying >= soundsLimit) return;
        numSoundsPlaying++;
--- a/libs/tests/README.md
+++ b/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
+```
--- a/libs/tests/_locales/tests-jsdoc-strings.json
+++ b/libs/tests/_locales/tests-jsdoc-strings.json
@ -0,0 +1,11 @@
+{
+  "TestEvent": "Various test event in the execution cycle",
+  "tests": "A 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, eg: 5",
+  "tests.onEvent": "Registers code to be called at various points in the test execution",
+  "tests.test": "Registers a test to run"
+}
--- a/libs/tests/_locales/tests-strings.json
+++ b/libs/tests/_locales/tests-strings.json
@ -0,0 +1,11 @@
+{
+  "TestEvent.RunSetUp|block": "run setup",
+  "TestEvent.RunTearDown|block": "run teardown",
+  "TestEvent.TestSetUp|block": "test setup",
+  "TestEvent.TestTearDown|block": "test teardown",
+  "tests.assertClose|block": "assert %message|%expected|close to %actual|by %tolerance",
+  "tests.assert|block": "assert %message|%condition",
+  "tests.test|block": "test %name",
+  "tests|block": "tests",
+  "{id:category}Tests": "Tests"
+}
--- a/libs/tests/platformoverrides.ts
+++ b/libs/tests/platformoverrides.ts
@ -0,0 +1,12 @@
+// EV3 specific test functions
+tests.onEvent(TestEvent.RunSetUp, function() {
+    console.sendToScreen();
+})
+tests.onEvent(TestEvent.TestSetUp, function() {
+    motors.stopAllMotors();
+    motors.resetAllMotors();
+})
+tests.onEvent(TestEvent.TestTearDown, function() {
+    motors.stopAllMotors();
+    motors.resetAllMotors();
+})
--- a/libs/tests/pxt.json
+++ b/libs/tests/pxt.json
@ -0,0 +1,16 @@
+{
+    "name": "tests",
+    "description": "A unit test library",
+    "files": [
+        "README.md",
+        "tests.ts",
+        "platformoverrides.ts"
+    ],
+    "testFiles": [
+    ],
+    "public": true,
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/tests",
+    "dependencies": {
+        "core": "file:../core"
+    }
+}
--- a/libs/touch-sensor/_locales/touch-sensor-strings.json
+++ b/libs/touch-sensor/_locales/touch-sensor-strings.json
@ -2,14 +2,14 @@
  "TouchSensorEvent.Bumped|block": "bumped",
  "TouchSensorEvent.Pressed|block": "pressed",
  "TouchSensorEvent.Released|block": "released",
-  "sensors.TouchSensor.isPressed|block": "`icons.touchSensor` %sensor|is pressed",
-  "sensors.TouchSensor.onEvent|block": "on `icons.touchSensor` %sensor|%event",
-  "sensors.TouchSensor.pauseUntil|block": "pause until `icons.touchSensor` %sensor|%event",
-  "sensors.TouchSensor.wasPressed|block": "`icons.touchSensor` %sensor|was pressed",
-  "sensors.touchSensor1|block": "1",
-  "sensors.touchSensor2|block": "2",
-  "sensors.touchSensor3|block": "3",
-  "sensors.touchSensor4|block": "4",
+  "sensors.TouchSensor.isPressed|block": "%sensor|is pressed",
+  "sensors.TouchSensor.onEvent|block": "on %sensor|%event",
+  "sensors.TouchSensor.pauseUntil|block": "pause until %sensor|%event",
+  "sensors.TouchSensor.wasPressed|block": "%sensor|was pressed",
+  "sensors.touchSensor1|block": "touch 1",
+  "sensors.touchSensor2|block": "touch 2",
+  "sensors.touchSensor3|block": "touch 3",
+  "sensors.touchSensor4|block": "touch 4",
  "{id:category}Sensors": "Sensors",
  "{id:group}Touch Sensor": "Touch Sensor"
 }
--- a/libs/touch-sensor/touch.ts
+++ b/libs/touch-sensor/touch.ts
@ -42,11 +42,10 @@ namespace sensors {
         * @param body code to run when the event is raised
         */
        //% help=input/touch-sensor/on-event
-        //% blockId=touchEvent block="on `icons.touchSensor` %sensor|%event"
+        //% blockId=touchEvent block="on %sensor|%event"
        //% parts="touch"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=99 blockGap=8
        //% group="Touch Sensor"
        onEvent(ev: TouchSensorEvent, body: () => void) {
@ -59,11 +58,10 @@ namespace sensors {
         * @param event the kind of button gesture that needs to be detected
         */
        //% help=input/touch-sensor/pause-until
-        //% blockId=touchWaitUntil block="pause until `icons.touchSensor` %sensor|%event"
+        //% blockId=touchWaitUntil block="pause until %sensor|%event"
        //% parts="touch"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=98 blockGap=8
        //% group="Touch Sensor"
        pauseUntil(ev: TouchSensorEvent) {
@ -75,13 +73,12 @@ namespace sensors {
         * @param sensor the port to query the request
         */
        //% help=input/touch-sensor/is-pressed
-        //% block="`icons.touchSensor` %sensor|is pressed"
+        //% block="%sensor|is pressed"
        //% blockId=touchIsPressed
        //% parts="touch"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
-        //% weight=81 blockGap=8
+        //% sensor.fieldEditor="ports"
+        //% weight=81
        //% group="Touch Sensor"
        isPressed() {
            return this.button.isPressed();
@ -92,12 +89,11 @@ namespace sensors {
         * @param sensor the port to query the request
         */
        //% help=input/touch-sensor/was-pressed
-        //% block="`icons.touchSensor` %sensor|was pressed"
+        //% block="%sensor|was pressed"
        //% blockId=touchWasPressed
        //% parts="touch"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=81 blockGap=8
        //% group="Touch Sensor"
        wasPressed() {
@ -105,12 +101,12 @@ namespace sensors {
        }
    }

-    //% whenUsed block="1" weight=95 fixedInstance jres=icons.port1
+    //% whenUsed block="touch 1" weight=95 fixedInstance jres=icons.port1
    export const touchSensor1: TouchSensor = new TouchSensor(1)
-    //% whenUsed block="2" weight=95 fixedInstance jres=icons.port2
+    //% whenUsed block="touch 2" weight=95 fixedInstance jres=icons.port2
    export const touchSensor2: TouchSensor = new TouchSensor(2)
-    //% whenUsed block="3" weight=95 fixedInstance jres=icons.port3
+    //% whenUsed block="touch 3" weight=95 fixedInstance jres=icons.port3
    export const touchSensor3: TouchSensor = new TouchSensor(3)
-    //% whenUsed block="4" weight=95 fixedInstance jres=icons.port4
+    //% whenUsed block="touch 4" weight=95 fixedInstance jres=icons.port4
    export const touchSensor4: TouchSensor = new TouchSensor(4)
 }
--- a/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
+++ b/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
@ -2,13 +2,13 @@
  "UltrasonicSensorEvent.ObjectDetected|block": "object detected",
  "UltrasonicSensorEvent.ObjectFar|block": "object far",
  "UltrasonicSensorEvent.ObjectNear|block": "object near",
-  "sensors.UltraSonicSensor.distance|block": "`icons.ultrasonicSensor` %sensor|distance",
-  "sensors.UltraSonicSensor.onEvent|block": "on `icons.ultrasonicSensor` %sensor|%event",
-  "sensors.UltraSonicSensor.pauseUntil|block": "pause until `icons.ultrasonicSensor` %sensor| %event",
-  "sensors.ultrasonic1|block": "1",
-  "sensors.ultrasonic2|block": "2",
-  "sensors.ultrasonic3|block": "3",
-  "sensors.ultrasonic4|block": "4",
+  "sensors.UltraSonicSensor.distance|block": "%sensor|distance",
+  "sensors.UltraSonicSensor.onEvent|block": "on %sensor|%event",
+  "sensors.UltraSonicSensor.pauseUntil|block": "pause until %sensor| %event",
+  "sensors.ultrasonic1|block": "ultrasonic 1",
+  "sensors.ultrasonic2|block": "ultrasonic 2",
+  "sensors.ultrasonic3|block": "ultrasonic 3",
+  "sensors.ultrasonic4|block": "ultrasonic 4",
  "{id:category}Sensors": "Sensors",
  "{id:group}Ultrasonic Sensor": "Ultrasonic Sensor"
 }
--- a/libs/ultrasonic-sensor/ultrasonic.ts
+++ b/libs/ultrasonic-sensor/ultrasonic.ts
@ -25,7 +25,7 @@ namespace sensors {
        }

        _query(): number {
-            return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff;            
+            return ((this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff) / 10) >> 0; // range is 0..2550, in 0.1 cm increments.
        }

        _update(prev: number, curr: number) {
@ -43,11 +43,10 @@ namespace sensors {
         */
        //% help=input/ultrasonic/on
        //% blockId=ultrasonicOn
-        //% block="on `icons.ultrasonicSensor` %sensor|%event"
+        //% block="on %sensor|%event"
        //% parts="ultrasonicsensor"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=100 blockGap=8
        //% group="Ultrasonic Sensor"
        onEvent(event: UltrasonicSensorEvent, handler: () => void) {
@ -58,12 +57,11 @@ namespace sensors {
         * Waits for the event to occur
         */
        //% help=input/ultrasonic/wait
-        //% block="pause until `icons.ultrasonicSensor` %sensor| %event"
+        //% block="pause until %sensor| %event"
        //% blockId=ultrasonicWait
        //% parts="ultrasonicsensor"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=99 blockGap=8
        //% group="Ultrasonic Sensor"        
        pauseUntil(event: UltrasonicSensorEvent) {
@ -75,30 +73,29 @@ namespace sensors {
         * @param sensor the ultrasonic sensor port
         */
        //% help=input/ultrasonic/distance
-        //% block="`icons.ultrasonicSensor` %sensor|distance"
+        //% block="%sensor|distance"
        //% blockId=sonarGetDistance
        //% parts="ultrasonicsensor"
-        //% sensor.fieldEditor="imagedropdown"
-        //% sensor.fieldOptions.columns=4
        //% blockNamespace=sensors
-        //% weight=65 blockGap=8   
+        //% sensor.fieldEditor="ports"
+        //% weight=65
        //% group="Ultrasonic Sensor"     
        distance(): number {
            // it supposedly also has an inch mode, but we stick to cm
            this._setMode(0)
-            return this.getNumber(NumberFormat.UInt16LE, 0) & 0x0fff; // range is 0..255
+            return this._query();
        }
    }
    
-    //% fixedInstance whenUsed block="1" jres=icons.port1
+    //% fixedInstance whenUsed block="ultrasonic 1" jres=icons.port1
    export const ultrasonic1: UltraSonicSensor = new UltraSonicSensor(1)

-    //% fixedInstance whenUsed block="2" jres=icons.port2
+    //% fixedInstance whenUsed block="ultrasonic 2" jres=icons.port2
    export const ultrasonic2: UltraSonicSensor = new UltraSonicSensor(2)

-    //% fixedInstance whenUsed block="3" jres=icons.port3
+    //% fixedInstance whenUsed block="ultrasonic 3" jres=icons.port3
    export const ultrasonic3: UltraSonicSensor = new UltraSonicSensor(3)
  
-    //% fixedInstance whenUsed block="4" jres=icons.port4
+    //% fixedInstance whenUsed block="ultrasonic 4" jres=icons.port4
    export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
 }
--- a/package-lock.json
+++ b/package-lock.json
--- a/package.json
+++ b/package.json
@ -1,6 +1,6 @@
 {
  "name": "pxt-ev3",
-  "version": "0.0.40",
+  "version": "0.0.51",
  "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
  "private": true,
  "keywords": [
@ -40,11 +40,12 @@
    "@types/bluebird": "2.0.33",
    "@types/jquery": "3.2.16",
    "@types/marked": "0.3.0",
-    "@types/node": "8.0.53"
+    "@types/node": "8.0.53",
+    "webfonts-generator": "^0.4.0"
  },
  "dependencies": {
-    "pxt-common-packages": "0.14.13",
-    "pxt-core": "3.0.2"
+    "pxt-common-packages": "0.15.1",
+    "pxt-core": "3.0.5"
  },
  "scripts": {
    "test": "node node_modules/pxt-core/built/pxt.js travis"
--- a/pxtarget.json
+++ b/pxtarget.json
@ -15,12 +15,13 @@
        "libs/ultrasonic-sensor",
        "libs/infrared-sensor",
        "libs/gyro-sensor",
-        "libs/ev3"
+        "libs/ev3",
+        "libs/tests"
    ],
    "simulator": {
        "autoRun": true,
        "streams": true,
-        "aspectRatio": 0.67,
+        "aspectRatio": 0.5,
        "parts": false,
        "enableTrace": true,
        "boardDefinition": {
@ -52,8 +53,10 @@
    "serial": {
      "vendorId": "0x0694",
      "productId": "0x0005",
-      "rawHID": true
-    },
+      "rawHID": true,
+      "useEditor": true,
+      "log": true
+  },
    "runtime": {
        "mathBlocks": true,
        "loopsBlocks": true,
@ -91,6 +94,7 @@
        "privacyUrl": "https://go.microsoft.com/fwlink/?LinkId=521839",
        "termsOfUseUrl": "https://go.microsoft.com/fwlink/?LinkID=206977",
        "githubUrl": "https://github.com/Microsoft/pxt-ev3",
+        "betaUrl": "https://lego.makecode.com/",
        "boardName": "LEGO Mindstorms EV3 Brick",
        "selectLanguage": true,
        "highContrast": true,
@ -129,10 +133,19 @@
            "logic": "#1E5AA8",
            "math": "#9DC3F7",
            "variables": "#B40000",
-            "text": "#F0890A",
+            "text": "#FCAC00",
            "advanced": "#969696",
-            "functions": "#064597",
-            "arrays": "#890058"
+            "functions": "#19325A",
+            "arrays": "#901F76"
+        },
+        "blockIcons": {
+            "loops": "\uf10b",
+            "logic": "\uf10a",
+            "math": "\uf10c",
+            "variables": "\uf111",
+            "text": "\uf110",
+            "functions": "\uf108",
+            "arrays": "\uf109"
        },
        "monacoColors": {
            "editor.background": "#ecf6ff"
--- a/sim/dalboard.ts
+++ b/sim/dalboard.ts
@ -22,102 +22,40 @@ namespace pxsim {
        D13
    }

-    export class DalBoard extends CoreBoard implements
-        AccelerometerBoard,
-        CommonBoard,
-        // LightBoard,
-        LightSensorBoard,
-        MicrophoneBoard,
-        MusicBoard,
-        SlideSwitchBoard,
-        TemperatureBoard,
-        InfraredBoard,
-        CapTouchBoard {
-        // state & update logic for component services
-        // neopixelState: CommonNeoPixelState;
-        buttonState: EV3ButtonState;
-        slideSwitchState: SlideSwitchState;
-        lightSensorState: AnalogSensorState;
-        thermometerState: AnalogSensorState;
-        thermometerUnitState: number;
-        microphoneState: AnalogSensorState;
-        edgeConnectorState: EdgeConnectorState;
-        capacitiveSensorState: CapacitiveSensorState;
-        accelerometerState: AccelerometerState;
-        audioState: AudioState;
-        touchButtonState: TouchButtonState;
-        irState: InfraredState;
-        lightState: EV3LightState;
-        screenState: EV3ScreenState;
-
+    export class EV3Board extends CoreBoard {
        view: SVGSVGElement;

+        outputState: EV3OutputState;
+        analogState: EV3AnalogState;
+        uartState: EV3UArtState;
+        motorState: EV3MotorState;
+        screenState: EV3ScreenState;
+        audioState: AudioState;
+
+        inputNodes: SensorNode[] = [];
+        brickNode: BrickNode;
+        outputNodes: MotorNode[] = [];
+
+        private motorMap: pxt.Map<number> = {
+            0x01: 0,
+            0x02: 1,
+            0x04: 2,
+            0x08: 3
+        }
+
        constructor() {
            super()

            this.bus.setNotify(DAL.DEVICE_ID_NOTIFY, DAL.DEVICE_ID_NOTIFY_ONE);

-            //components
+            this.brickNode = new BrickNode();

-            this.builtinParts["buttons"] = this.buttonState = new EV3ButtonState();
-            this.builtinParts["light"] = this.lightState = new EV3LightState();
-            this.builtinParts["screen"] = this.screenState = new EV3ScreenState();
-            this.builtinParts["audio"] = this.audioState = new AudioState();
-
-            /*this.builtinParts["neopixel"] = this.neopixelState = new CommonNeoPixelState();
-            this.builtinParts["buttonpair"] = this.buttonState = new CommonButtonState();
-
-            this.builtinParts["switch"] = this.slideSwitchState = new SlideSwitchState();
-            this.builtinParts["lightsensor"] = this.lightSensorState = new AnalogSensorState(DAL.DEVICE_ID_LIGHT_SENSOR, 0, 255);
-            this.builtinParts["thermometer"] = this.thermometerState = new AnalogSensorState(DAL.DEVICE_ID_THERMOMETER, -5, 50);
-            this.builtinParts["soundsensor"] = this.microphoneState = new AnalogSensorState(DAL.DEVICE_ID_TOUCH_SENSOR + 1, 0, 255);
-            this.builtinParts["capacitivesensor"] = this.capacitiveSensorState = new CapacitiveSensorState({
-                0: 0,
-                1: 1,
-                2: 2,
-                3: 3,
-                6: 4,
-                9: 5,
-                10: 6,
-                12: 7
-            });
-
-            this.builtinParts["accelerometer"] = this.accelerometerState = new AccelerometerState(runtime);
-            this.builtinParts["edgeconnector"] = this.edgeConnectorState = new EdgeConnectorState({
-                pins: [
-                    pxsim.CPlayPinName.A0,
-                    pxsim.CPlayPinName.A1,
-                    pxsim.CPlayPinName.A2,
-                    pxsim.CPlayPinName.A3,
-                    pxsim.CPlayPinName.A4,
-                    pxsim.CPlayPinName.A5,
-                    pxsim.CPlayPinName.A6,
-                    pxsim.CPlayPinName.A7,
-                    pxsim.CPlayPinName.A8,
-                    pxsim.CPlayPinName.A9,
-                    pxsim.CPlayPinName.D4,
-                    pxsim.CPlayPinName.D5,
-                    pxsim.CPlayPinName.D6,
-                    pxsim.CPlayPinName.D7,
-                    pxsim.CPlayPinName.D8,
-                    pxsim.CPlayPinName.D13
-                ]
-            });
-            this.builtinParts["microservo"] = this.edgeConnectorState;
-
-            this.builtinVisuals["microservo"] = () => new visuals.MicroServoView();
-            this.builtinPartVisuals["microservo"] = (xy: visuals.Coord) => visuals.mkMicroServoPart(xy);
-            this.touchButtonState = new TouchButtonState([
-                pxsim.CPlayPinName.A1,
-                pxsim.CPlayPinName.A2,
-                pxsim.CPlayPinName.A3,
-                pxsim.CPlayPinName.A4,
-                pxsim.CPlayPinName.A5,
-                pxsim.CPlayPinName.A6,
-                pxsim.CPlayPinName.A7
-            ]);
-
-            this.builtinParts["ir"] = this.irState = new InfraredState();*/
+            this.outputState = new EV3OutputState();
+            this.analogState = new EV3AnalogState();
+            this.uartState = new EV3UArtState();
+            this.motorState = new EV3MotorState();
+            this.screenState = new EV3ScreenState();
+            this.audioState = new AudioState();
        }

        receiveMessage(msg: SimulatorMessage) {
@ -134,11 +72,6 @@ namespace pxsim {
                    // TODO
                    break;
                }
-                case "irpacket": {
-                    let ev = <SimulatorInfraredPacketMessage>msg;
-                    this.irState.receive(new RefBuffer(ev.packet));
-                    break;
-                }
            }
        }

@ -168,6 +101,9 @@ namespace pxsim {
            document.body.innerHTML = ""; // clear children
            document.body.appendChild(this.view = viewHost.getView() as SVGSVGElement);

+            this.inputNodes = [];
+            this.outputNodes = [];
+
            return Promise.resolve();
        }

@ -175,18 +111,59 @@ namespace pxsim {
            return svg.toDataUri(new XMLSerializer().serializeToString(this.view));
        }

-        //defaultNeopixelPin() {
-        //    return this.edgeConnectorState.getPin(CPlayPinName.D8);
-        //}
+        getBrickNode() {
+            return this.brickNode;
+        }

-        getDefaultPitchPin() {
-            return this.edgeConnectorState.getPin(CPlayPinName.D6);
+        motorUsed(port:number, large: boolean) {
+            for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                const p = 1 << i;
+                if (port & p) {
+                    const motorPort = this.motorMap[p];
+                    if (!this.outputNodes[motorPort])
+                        this.outputNodes[motorPort] = new MotorNode(motorPort, large);
+                }    
+            }            
+        }
+
+        getMotor(port: number, large?: boolean): MotorNode[] {
+            const r = [];
+            for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                const p = 1 << i;
+                if (port & p) {
+                    const motorPort = this.motorMap[p];
+                    const outputNode = this.outputNodes[motorPort];
+                    if (outputNode)
+                        r.push(outputNode);
+                }    
+            }
+            return r;
+        }
+
+        getMotors() {
+            return this.outputNodes;
+        }
+
+        getSensor(port: number, type: number): SensorNode {
+            if (!this.inputNodes[port]) {
+                switch (type) {
+                    case DAL.DEVICE_TYPE_GYRO: this.inputNodes[port] = new GyroSensorNode(port); break;
+                    case DAL.DEVICE_TYPE_COLOR: this.inputNodes[port] = new ColorSensorNode(port); break;
+                    case DAL.DEVICE_TYPE_TOUCH: this.inputNodes[port] = new TouchSensorNode(port); break;
+                    case DAL.DEVICE_TYPE_ULTRASONIC: this.inputNodes[port] = new UltrasonicSensorNode(port); break;
+                }
+            }
+            return this.inputNodes[port];
+        }
+
+        getInputNodes() {
+            return this.inputNodes;
        }
    }

    export function initRuntimeWithDalBoard() {
        U.assert(!runtime.board);
-        let b = new DalBoard();
+        let b = new EV3Board();
        runtime.board = b;
        runtime.postError = (e) => {
            // TODO
@ -194,6 +171,10 @@ namespace pxsim {
        }
    }

+    export function ev3board(): EV3Board {
+        return runtime.board as EV3Board;
+    }
+
    if (!pxsim.initCurrentRuntime) {
        pxsim.initCurrentRuntime = initRuntimeWithDalBoard;
    }
--- a/sim/state/analog.ts
+++ b/sim/state/analog.ts
@ -0,0 +1,68 @@
+namespace pxsim {
+
+    enum AnalogOff {
+        InPin1 = 0, // int16[4]
+        InPin6 = 8, // int16[4]
+        OutPin5 = 16, // int16[4]
+        BatteryTemp = 24, // int16
+        MotorCurrent = 26, // int16
+        BatteryCurrent = 28, // int16
+        Cell123456 = 30, // int16
+        Pin1 = 32, // int16[300][4]
+        Pin6 = 2432, // int16[300][4]
+        Actual = 4832, // uint16[4]
+        LogIn = 4840, // uint16[4]
+        LogOut = 4848, // uint16[4]
+        NxtCol = 4856, // uint16[36][4] - NxtColor*4
+        OutPin5Low = 5144, // int16[4]
+        Updated = 5152, // int8[4]
+        InDcm = 5156, // int8[4]
+        InConn = 5160, // int8[4]
+        OutDcm = 5164, // int8[4]
+        OutConn = 5168, // int8[4]
+        Size = 5172
+    }
+
+    export class EV3AnalogState {
+
+        constructor() {
+            let data = new Uint8Array(5172)
+            MMapMethods.register("/dev/lms_analog", {
+                data,
+                beforeMemRead: () => {
+                    //console.log("analog before read");
+                    const inputNodes = ev3board().getInputNodes();
+                    for (let port = 0; port < DAL.NUM_INPUTS; port++) {
+                        const node = inputNodes[port];
+                        if (node) {
+                            data[AnalogOff.InConn + port] = node.isUart() ? DAL.CONN_INPUT_UART : DAL.CONN_INPUT_DUMB;
+                            if (node.isAnalog() && node.hasData()) {
+                                //data[AnalogOff.InPin6 + 2 * port] = node.getValue();
+                                util.map16Bit(data, AnalogOff.InPin6 + 2 * port, Math.floor(node.getValue()));
+                            }
+                        }
+                    }
+                },
+                read: buf => {
+                    let v = "vSIM"
+                    for (let i = 0; i < buf.data.length; ++i)
+                        buf.data[i] = v.charCodeAt(i) || 0
+                    console.log("analog read");
+                    console.log(buf.data);
+                    return buf.data.length
+                },
+                write: buf => {
+                    console.log("analog write");
+                    console.log(buf);
+                    return 2
+                },
+                ioctl: (id, buf) => {
+                    console.log("analog ioctl");
+                    console.log(id);
+                    console.log(buf);
+                    return 2;
+                }
+            })
+        }
+    }
+}
--- a/sim/state/brick.ts
+++ b/sim/state/brick.ts
@ -0,0 +1,27 @@
+/// <reference path="./nodeTypes.ts"/>
+
+namespace pxsim {
+
+    export class PortNode extends BaseNode {
+        id = NodeType.Port;
+
+        constructor(port: number) {
+            super(port);
+        }
+    }
+
+
+    export class BrickNode extends BaseNode {
+        id = NodeType.Brick;
+
+        buttonState: EV3ButtonState;
+        lightState: EV3LightState;
+
+        constructor() {
+            super(-1);
+
+            this.buttonState = new EV3ButtonState();
+            this.lightState = new EV3LightState();
+        }
+    }
+}
--- a/sim/state/color.ts
+++ b/sim/state/color.ts
@ -0,0 +1,44 @@
+/// <reference path="./sensor.ts"/>
+
+namespace pxsim {
+
+    export enum ColorSensorMode {
+        None = -1,
+        Reflected = 0,
+        Ambient = 1,
+        Colors = 2,
+        RefRaw = 3,
+        RgbRaw = 4,
+        ColorCal = 5,
+    }
+
+    export enum ThresholdState {
+        Normal = 1,
+        High = 2,
+        Low = 3,
+    }
+
+    export class ColorSensorNode extends UartSensorNode {
+        id = NodeType.ColorSensor;
+
+        private color: number = 50;
+
+        constructor(port: number) {
+            super(port);
+            this.mode = -1;
+        }
+
+        getDeviceType() {
+            return DAL.DEVICE_TYPE_COLOR;
+        }
+
+        setColor(color: number) {
+            this.color = color;
+            this.setChangedState();
+        }
+
+        getValue() {
+            return this.color;
+        }
+    }
+}
--- a/sim/state/control.ts
+++ b/sim/state/control.ts
@ -63,7 +63,6 @@ namespace pxsim.MMapMethods {

    export function write(m: MMap, data: Buffer): number {
        return m.impl.write(data)
-
    }

    export function read(m: MMap, data: Buffer): number {
@ -82,7 +81,6 @@ namespace pxsim.control {
    export function dmesg(s: string) {
        console.log("DMESG: " + s)
    }
-
 }

 namespace pxsim.output {
--- a/sim/state/gyro.ts
+++ b/sim/state/gyro.ts
@ -0,0 +1,41 @@
+namespace pxsim {
+    const enum GyroSensorMode {
+        None = -1,
+        Angle = 0,
+        Rate = 1,
+    }
+
+    export class GyroSensorNode extends UartSensorNode {
+        id = NodeType.GyroSensor;
+
+        private angle: number = 0;
+        private rate: number = 0;
+
+        constructor(port: number) {
+            super(port);
+        }
+
+        getDeviceType() {
+            return DAL.DEVICE_TYPE_GYRO;
+        }
+
+        setAngle(angle: number) {
+            if (this.angle != angle) {
+                this.angle = angle;
+                this.setChangedState();
+            }
+        }
+
+        setRate(rate: number) {
+            if (this.rate != rate) {
+                this.rate = rate;
+                this.setChangedState();
+            }
+        }
+
+        getValue() {
+            return this.mode == GyroSensorMode.Angle ? this.angle :
+                this.mode == GyroSensorMode.Rate ? this.rate : 0;
+        }
+    }
+}
--- a/sim/state/input.ts
+++ b/sim/state/input.ts
@ -0,0 +1,18 @@
+
+namespace pxsim.motors {
+
+    export function __motorUsed(port: number, large: boolean) {
+        //console.log("MOTOR INIT " + port);
+        ev3board().motorUsed(port, large);
+        runtime.queueDisplayUpdate();
+    }
+}
+
+namespace pxsim.sensors {
+
+    export function __sensorUsed(port: number, type: number) {
+        //console.log("SENSOR INIT " + port + ", type: " + type);
+        const sensor = ev3board().getSensor(port, type);
+        runtime.queueDisplayUpdate();
+    }
+}
--- a/sim/state/light.ts
+++ b/sim/state/light.ts
@ -12,8 +12,11 @@ namespace pxsim {
 namespace pxsim.output {

    export function setLights(pattern: number) {
-        const lightState = (board() as DalBoard).lightState;
-        lightState.lightPattern = pattern;
-        runtime.queueDisplayUpdate();
+        const brickState = ev3board().getBrickNode();
+        const lightState = brickState.lightState;
+        if (lightState.lightPattern != pattern) {
+            lightState.lightPattern = pattern;
+            brickState.setChangedState();
+        }
    }
 }
--- a/sim/state/motor.ts
+++ b/sim/state/motor.ts
@ -0,0 +1,58 @@
+namespace pxsim {
+
+    enum MotorDataOff {
+        TachoCounts = 0, // int32
+        Speed = 4, // int8
+        Padding = 5, // int8[3]
+        TachoSensor = 8, // int32
+        Size = 12
+    }
+
+    export class EV3MotorState {
+
+        constructor() {
+            let data = new Uint8Array(12 * DAL.NUM_OUTPUTS)
+            MMapMethods.register("/dev/lms_motor", {
+                data,
+                beforeMemRead: () => {
+                    const outputs = ev3board().outputNodes;
+                    // console.log("motor before read");
+                    for (let port = 0; port < DAL.NUM_OUTPUTS; ++port) {
+                        const output = outputs[port];
+                        const speed = output ? outputs[port].getSpeed() : 0;
+                        const angle = output ? outputs[port].getAngle() : 0;
+                        const tci = MotorDataOff.TachoCounts + port * MotorDataOff.Size;
+                        const tsi = MotorDataOff.TachoSensor + port * MotorDataOff.Size;
+                        data[tci] = data[tci + 1] = data[tci + 2] = data[tci + 3] = 0; // Tacho count
+                        data[MotorDataOff.Speed + port * MotorDataOff.Size] = speed; // Speed
+                        data[tsi] = angle & 0xff; // Count
+                        data[tsi + 1] = (angle >> 8) & 0xff; // Count
+                        data[tsi + 2] = (angle >> 16) & 0xff; // Count
+                        data[tsi + 3] = (angle >> 24); // Count
+                    }
+                },
+                read: buf => {
+                    let v = "vSIM"
+                    for (let i = 0; i < buf.data.length; ++i)
+                        buf.data[i] = v.charCodeAt(i) || 0
+                    console.log("motor read");
+                    console.log(buf.data);
+                    return buf.data.length
+                },
+                write: buf => {
+                    if (buf.data.length == 0) return 2;
+                    const cmd = buf.data[0];
+                    console.log("motor write");
+                    console.log(buf);
+                    return 2
+                },
+                ioctl: (id, buf) => {
+                    console.log("motor ioctl");
+                    console.log(id);
+                    console.log(buf);
+                    return 2;
+                }
+            });
+        }
+    }
+}
--- a/sim/state/motornode.ts
+++ b/sim/state/motornode.ts
@ -0,0 +1,182 @@
+namespace pxsim {
+
+    export class MotorNode extends BaseNode {
+        isOutput = true;
+        private rotationsPerMilliSecond: number;
+
+        // current state
+        private angle: number = 0;
+        private tacho: number = 0;
+        private speed: number = 0;
+        private polarity: number = 1; // -1, 1 or -1
+
+        private started: boolean;
+        private speedCmd: DAL;
+        private speedCmdValues: number[];
+        private speedCmdTacho: number;
+        private speedCmdTime: number;
+        private _synchedMotor: MotorNode; // non-null if master motor
+
+        constructor(port: number, large: boolean) {
+            super(port);
+            this.setLarge(large);
+        }
+
+        getSpeed() {
+            return this.speed * (this.polarity == 0 ? -1 : 1);
+        }
+
+        getAngle() {
+            return this.angle;
+        }
+
+        // returns the slave motor if any
+        getSynchedMotor() {
+            return this._synchedMotor;
+        }
+
+        setSpeedCmd(cmd: DAL, values: number[]) {
+            this.speedCmd = cmd;
+            this.speedCmdValues = values;
+            this.speedCmdTacho = this.angle;
+            this.speedCmdTime = pxsim.U.now();
+            delete this._synchedMotor;
+        }
+
+        setSyncCmd(motor: MotorNode, cmd: DAL, values: number[]) {
+            this.setSpeedCmd(cmd, values);
+            this._synchedMotor = motor;
+        }
+
+        clearSpeedCmd() {
+            delete this.speedCmd;
+            delete this._synchedMotor;
+        }
+
+        setLarge(large: boolean) {
+            this.id = large ? NodeType.LargeMotor : NodeType.MediumMotor;
+            // large 170 rpm  (https://education.lego.com/en-us/products/ev3-large-servo-motor/45502)
+            this.rotationsPerMilliSecond = (large ? 170 : 250) / 60000;
+        }
+
+        setPolarity(polarity: number) {
+            // Either 1 or 255 (reverse)
+            /*
+                -1 : Motor will run backward  
+                0 : Motor will run opposite direction  
+                1 : Motor will run forward             
+            */
+            this.polarity = polarity;
+        }
+
+        reset() {
+            // not sure what reset does...
+        }
+
+        clearCount() {
+            this.tacho = 0;
+            this.angle = 0;
+        }
+
+        stop() {
+            this.started = false;
+            this.clearSpeedCmd();
+        }
+
+        start() {
+            this.started = true;
+        }
+
+        updateState(elapsed: number) {
+            console.log(`motor: ${elapsed}ms - ${this.speed}% - ${this.angle}> - ${this.tacho}|`)
+            const interval = Math.min(20, elapsed);
+            let t = 0;
+            while (t < elapsed) {
+                let dt = interval;
+                if (t + dt > elapsed) dt = elapsed - t;
+                this.updateStateStep(dt);
+                t += dt;
+            }
+        }
+
+        private updateStateStep(elapsed: number) {
+            // compute new speed
+            switch (this.speedCmd) {
+                case DAL.opOutputSpeed:
+                case DAL.opOutputPower:
+                    // assume power == speed
+                    // TODO: PID
+                    this.speed = this.speedCmdValues[0];
+                    break;
+                case DAL.opOutputTimeSpeed:
+                case DAL.opOutputTimePower:
+                case DAL.opOutputStepPower:
+                case DAL.opOutputStepSpeed: {
+                    // ramp up, run, ramp down, <brake> using time
+                    const speed = this.speedCmdValues[0];
+                    const step1 = this.speedCmdValues[1];
+                    const step2 = this.speedCmdValues[2];
+                    const step3 = this.speedCmdValues[3];
+                    const brake = this.speedCmdValues[4];
+                    const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed)
+                        ? pxsim.U.now() - this.speedCmdTime
+                        : this.tacho - this.speedCmdTacho;
+                    if (dstep < step1) // rampup
+                        this.speed = speed * dstep / step1;
+                    else if (dstep < step1 + step2) // run
+                        this.speed = speed;
+                    else if (dstep < step1 + step2 + step3)
+                        this.speed = speed * (step1 + step2 + step3 - dstep) / (step1 + step2 + step3);
+                    else {
+                        if (brake) this.speed = 0;
+                        this.clearSpeedCmd();
+                    }
+                    break;
+                }
+                case DAL.opOutputStepSync:
+                case DAL.opOutputTimeSync: {
+                    if (!this._synchedMotor) // handled in other motor code
+                        break;
+
+                    const otherMotor = this._synchedMotor;
+                    const speed = this.speedCmdValues[0];
+                    const turnRatio = this.speedCmdValues[1];
+                    const stepsOrTime = this.speedCmdValues[2];
+                    const brake = this.speedCmdValues[3];
+                    const dstep = this.speedCmd == DAL.opOutputTimeSync
+                        ? pxsim.U.now() - this.speedCmdTime
+                        : this.tacho - this.speedCmdTacho;
+                    // 0 is special case, run infinite
+                    if (!stepsOrTime || dstep < stepsOrTime)
+                        this.speed = speed;
+                    else {
+                        if (brake) this.speed = 0;
+                        this.clearSpeedCmd();
+                    }
+                    // send synched motor state
+                    otherMotor.speed = Math.floor(this.speed * turnRatio / 100);
+                    if (!this._synchedMotor)
+                        otherMotor.clearSpeedCmd();
+                    break;
+                }
+            }
+            this.speed = Math.round(this.speed); // integer only
+
+            // compute delta angle
+            const rotations = this.getSpeed() / 100 * this.rotationsPerMilliSecond * elapsed;
+            const deltaAngle = Math.round(rotations * 360);
+            if (deltaAngle) {
+                this.angle += deltaAngle;
+                this.tacho += Math.abs(deltaAngle);
+                this.setChangedState();
+            }
+
+            // if the motor was stopped or there are no speed commands,
+            // let it coast to speed 0
+            if (this.speed && !(this.started || this.speedCmd)) {
+                // decay speed 5% per tick
+                this.speed = Math.round(Math.max(0, Math.abs(this.speed) - 10) * Math.sign(this.speed));
+            }
+        }
+    }
+}
--- a/sim/state/nodeTypes.ts
+++ b/sim/state/nodeTypes.ts
@ -0,0 +1,48 @@
+namespace pxsim {
+    export enum NodeType {
+        Port = 0,
+        Brick = 1,
+        TouchSensor = 2,
+        MediumMotor = 3,
+        LargeMotor = 4,
+        GyroSensor = 5,
+        ColorSensor = 6,
+        UltrasonicSensor = 7
+    }
+
+    export interface Node {
+        id: number;
+        didChange(): boolean;
+    }
+
+    export class BaseNode implements Node {
+        public id: number;
+        public port: number;
+        public isOutput = false;
+
+        private used = false;
+        protected changed = true;
+
+        constructor(port: number) {
+            this.port = port;
+        }
+
+        didChange() {
+            const res = this.changed;
+            this.changed = false;
+            return res;
+        }
+
+        setChangedState() {
+            this.changed = true;
+        }
+
+        /**
+         * Updates any internal state according to the elapsed time since the last call to `updateState`
+         * @param elapsed
+         */
+        updateState(elapsed: number) {
+
+        }
+    }
+}
--- a/sim/state/output.ts
+++ b/sim/state/output.ts
@ -0,0 +1,134 @@
+namespace pxsim {
+
+    export class EV3OutputState {
+
+        constructor() {
+            let data = new Uint8Array(10)
+            MMapMethods.register("/dev/lms_pwm", {
+                data,
+                beforeMemRead: () => {
+                    //console.log("pwm before read");
+                    for (let i = 0; i < 10; ++i)
+                        data[i] = 0
+                },
+                read: buf => {
+                    let v = "vSIM"
+                    for (let i = 0; i < buf.data.length; ++i)
+                        buf.data[i] = v.charCodeAt(i) || 0
+                    console.log("pwm read");
+                    return buf.data.length
+                },
+                write: buf => {
+                    if (buf.data.length == 0) return 2;
+                    const cmd = buf.data[0];
+                    switch (cmd) {
+                        case DAL.opProgramStart: {
+                            // init
+                            console.log('init');
+                            return 2;
+                        }
+                        case DAL.opOutputReset: {
+                            // reset
+                            const port = buf.data[1];
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.reset());
+                            return 2;
+                        }
+                        case DAL.opOutputClearCount:
+                            const port = buf.data[1];
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.clearCount());
+                            break;
+                        case DAL.opOutputStepPower:
+                        case DAL.opOutputStepSpeed:
+                        case DAL.opOutputTimePower:
+                        case DAL.opOutputTimeSpeed: {
+                            // step speed
+                            const port = buf.data[1];
+                            const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte
+                            // note that b[3] is padding                            
+                            const step1 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 4);
+                            const step2 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8);
+                            const step3 = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 12);
+                            const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 16);
+                            //console.log(buf);
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.setSpeedCmd(cmd, [speed, step1, step2, step3, brake]));
+                            return 2;
+                        }
+                        case DAL.opOutputStepSync:
+                        case DAL.opOutputTimeSync: {
+                            const port = buf.data[1];
+                            const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2); // signed byte
+                            // note that b[3] is padding
+                            const turnRatio = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int16LE, 4);
+                            // b[6], b[7] is padding
+                            const stepsOrTime = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int32LE, 8);
+                            const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 12);
+
+                            const motors = ev3board().getMotor(port);
+                            for (const motor of motors) {
+                                const otherMotor = motors.filter(m => m.port != motor.port)[0];
+                                motor.setSyncCmd(
+                                    motor.port < otherMotor.port ? otherMotor : undefined,
+                                    cmd, [speed, turnRatio, stepsOrTime, brake]);
+                            }
+                            return 2;
+                        }
+                        case DAL.opOutputStop: {
+                            // stop
+                            const port = buf.data[1];
+                            const brake = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.stop());
+                            return 2;
+                        }
+                        case DAL.opOutputSpeed: {
+                            // setSpeed
+                            const port = buf.data[1];
+                            const speed = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.setSpeedCmd(cmd, [speed]));
+                            return 2;
+                        }
+                        case DAL.opOutputStart: {
+                            // start
+                            const port = buf.data[1];
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.start());
+                            return 2;
+                        }
+                        case DAL.opOutputPolarity: {
+                            // reverse
+                            const port = buf.data[1];
+                            const polarity = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.setPolarity(polarity));
+                            return 2;
+                        }
+                        case DAL.opOutputSetType: {
+                            const port = buf.data[1];
+                            const large = buf.data[2] == 0x07;
+                            const motors = ev3board().getMotor(port);
+                            motors.forEach(motor => motor.setLarge(large));
+                            return 2;
+                        }
+                        default:
+                            console.warn('unknown cmd: ' + cmd);
+                            break;
+                    }
+
+                    console.log("pwm write");
+                    console.log(buf);
+                    return 2
+                },
+                ioctl: (id, buf) => {
+                    console.log("pwm ioctl");
+                    console.log(id);
+                    console.log(buf);
+                    return 2;
+                }
+            });
+        }
+    }
+}
--- a/sim/state/screen.ts
+++ b/sim/state/screen.ts
@ -7,7 +7,7 @@ namespace pxsim {


    export class EV3ScreenState {
-        shouldUpdate: boolean;
+        changed: boolean = true;
        points: Uint8Array;
        constructor() {
            this.points = new Uint8Array(visuals.SCREEN_WIDTH * visuals.SCREEN_HEIGHT)
@ -24,13 +24,13 @@ namespace pxsim {

        setPixel(x: number, y: number, v: number) {
            this.applyMode(OFF(x, y), v)
-            this.shouldUpdate = true;
+            this.changed = true;
        }

        clear() {
            for (let i = 0; i < this.points.length; ++i)
                this.points[i] = 0;
-            this.shouldUpdate = true;
+            this.changed = true;
        }

        blitLineCore(x: number, y: number, w: number, buf: RefBuffer, mode: Draw, offset = 0) {
@ -59,7 +59,7 @@ namespace pxsim {
                }
            }

-            this.shouldUpdate = true;
+            this.changed = true;
        }

        clearLine(x: number, y: number, w: number) {
@ -73,6 +73,12 @@ namespace pxsim {
                off++
            }
        }
+
+        didChange() {
+            const res = this.changed;
+            this.changed = false;
+            return res;
+        }
    }
 }

@ -82,12 +88,12 @@ namespace pxsim.screen {
    function YY(v: number) { return v >> 16 }

    export function _setPixel(x: number, y: number, mode: Draw) {
-        const screenState = (board() as DalBoard).screenState;
+        const screenState = ev3board().screenState;
        screenState.setPixel(x, y, mode);
    }

    export function _blitLine(xw: number, y: number, buf: RefBuffer, mode: Draw) {
-        const screenState = (board() as DalBoard).screenState;
+        const screenState = ev3board().screenState;
        screenState.blitLineCore(XX(xw), y, YY(xw), buf, mode)
    }

@ -99,7 +105,7 @@ namespace pxsim.screen {
        return ((x + 7) >> 3)
    }
    export function clear(): void {
-        const screenState = (board() as DalBoard).screenState;
+        const screenState = ev3board().screenState;
        screenState.clear()
    }

@ -240,7 +246,7 @@ namespace pxsim.ImageMethods {
    }

    export function draw(buf: RefBuffer, x: number, y: number, mode: Draw): void {
-        const screenState = (board() as DalBoard).screenState;
+        const screenState = ev3board().screenState;

        if (!screen.isValidImage(buf))
            return;
--- a/sim/state/sensor.ts
+++ b/sim/state/sensor.ts
@ -0,0 +1,87 @@
+
+namespace pxsim {
+
+    export class SensorNode extends BaseNode {
+
+        protected mode: number;
+        protected valueChanged: boolean;
+        protected modeChanged: boolean;
+
+        constructor(port: number) {
+            super(port);
+        }
+
+        public isUart() {
+            return true;
+        }
+
+        public isAnalog() {
+            return false;
+        }
+
+        public getValue() {
+            return 0;
+        }
+
+        setMode(mode: number) {
+            this.mode = mode;
+            this.changed = true;
+            this.modeChanged = true;
+        }
+
+        getMode() {
+            return this.mode;
+        }
+
+        getDeviceType() {
+            return DAL.DEVICE_TYPE_NONE;
+        }
+
+        public hasData() {
+            return true;
+        }
+
+        valueChange() {
+            const res = this.valueChanged;
+            this.valueChanged = false;
+            return res;
+        }
+
+        modeChange() {
+            const res = this.modeChanged;
+            this.modeChanged = false;
+            return res;
+        }
+
+        setChangedState() {
+            this.changed = true;
+            this.valueChanged = false;
+        }
+    }
+
+    export class AnalogSensorNode extends SensorNode {
+
+        constructor(port: number) {
+            super(port);
+        }
+
+        public isUart() {
+            return false;
+        }
+
+        public isAnalog() {
+            return true;
+        }
+    }
+
+    export class UartSensorNode extends SensorNode {
+
+        constructor(port: number) {
+            super(port);
+        }
+
+        hasChanged() {
+            return this.changed;
+        }
+    }
+}
--- a/sim/state/touch.ts
+++ b/sim/state/touch.ts
@ -0,0 +1,41 @@
+namespace pxsim {
+
+    export const TOUCH_SENSOR_ANALOG_PRESSED = 2600;
+
+    export class TouchSensorNode extends AnalogSensorNode {
+        id = NodeType.TouchSensor;
+
+        private pressed: boolean[];
+
+        constructor(port: number) {
+            super(port);
+            this.pressed = [];
+        }
+
+        public setPressed(pressed: boolean) {
+            this.pressed.push(pressed);
+            this.setChangedState();
+        }
+
+        public isPressed() {
+            return this.pressed;
+        }
+
+        public getValue() {
+            if (this.pressed.length) {
+                if (this.pressed.pop())
+                    return TOUCH_SENSOR_ANALOG_PRESSED;
+            }
+            return 0;
+        }
+
+        getDeviceType() {
+            return DAL.DEVICE_TYPE_TOUCH;
+        }
+
+        public hasData() {
+            return this.pressed.length > 0;
+        }
+    }
+}
+
--- a/sim/state/uart.ts
+++ b/sim/state/uart.ts
@ -0,0 +1,156 @@
+namespace pxsim {
+
+    enum UartOff {
+        TypeData = 0, // Types[8][4]
+        Repeat = 1792, // uint16[300][4]
+        Raw = 4192, // int8[32][300][4]
+        Actual = 42592, // uint16[4]
+        LogIn = 42600, // uint16[4]
+        Status = 42608, // int8[4]
+        Output = 42612, // int8[32][4]
+        OutputLength = 42740, // int8[4]
+        Size = 42744
+    }
+
+    enum UartStatus {
+        UART_PORT_CHANGED = 1,
+        UART_DATA_READY = 8
+    }
+
+    enum IO {
+        UART_SET_CONN = 0xc00c7500,
+        UART_READ_MODE_INFO = 0xc03c7501,
+        UART_NACK_MODE_INFO = 0xc03c7502,
+        UART_CLEAR_CHANGED = 0xc03c7503,
+        IIC_SET_CONN = 0xc00c6902,
+        IIC_READ_TYPE_INFO = 0xc03c6903,
+        IIC_SETUP = 0xc04c6905,
+        IIC_SET = 0xc02c6906,
+        TST_PIN_ON = 0xc00b7401,
+        TST_PIN_OFF = 0xc00b7402,
+        TST_PIN_READ = 0xc00b7403,
+        TST_PIN_WRITE = 0xc00b7404,
+        TST_UART_ON = 0xc0487405,
+        TST_UART_OFF = 0xc0487406,
+        TST_UART_EN = 0xc0487407,
+        TST_UART_DIS = 0xc0487408,
+        TST_UART_READ = 0xc0487409,
+        TST_UART_WRITE = 0xc048740a,
+    }
+
+
+    enum DevConOff {
+        Connection = 0, // int8[4]
+        Type = 4, // int8[4]
+        Mode = 8, // int8[4]
+        Size = 12
+    }
+
+    enum UartCtlOff {
+        TypeData = 0, // Types
+        Port = 56, // int8
+        Mode = 57, // int8
+        Size = 58
+    }
+
+    enum TypesOff {
+        Name = 0, // int8[12]
+        Type = 12, // int8
+        Connection = 13, // int8
+        Mode = 14, // int8
+        DataSets = 15, // int8
+        Format = 16, // int8
+        Figures = 17, // int8
+        Decimals = 18, // int8
+        Views = 19, // int8
+        RawMin = 20, // float32
+        RawMax = 24, // float32
+        PctMin = 28, // float32
+        PctMax = 32, // float32
+        SiMin = 36, // float32
+        SiMax = 40, // float32
+        InvalidTime = 44, // uint16
+        IdValue = 46, // uint16
+        Pins = 48, // int8
+        Symbol = 49, // int8[5]
+        Align = 54, // uint16
+        Size = 56
+    }
+
+    export class EV3UArtState {
+
+        constructor() {
+            let data = new Uint8Array(UartOff.Size);
+            MMapMethods.register("/dev/lms_uart", {
+                data,
+                beforeMemRead: () => {
+                    //console.log("uart before read");
+                    const inputNodes = ev3board().getInputNodes();
+                    for (let port = 0; port < DAL.NUM_INPUTS; port++) {
+                        const node = inputNodes[port];
+                        if (node && node.isUart()) {
+                            // Actual
+                            const index = 0; //UartOff.Actual + port * 2;
+                            util.map16Bit(data, UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index, Math.floor(node.getValue()))
+                            // Status
+                            data[UartOff.Status + port] = node.valueChange() ? UartStatus.UART_PORT_CHANGED : UartStatus.UART_DATA_READY;
+                        }
+                    }
+                },
+                read: buf => {
+                    let v = "vSIM"
+                    // for (let i = 0; i < buf.data.length; ++i)
+                    //     buf.data[i] = v.charCodeAt(i) || 0
+                    console.log("uart read");
+                    console.log(buf.data);
+                    return buf.data.length
+                },
+                write: buf => {
+                    console.log("uart write");
+                    console.log(buf);
+                    return 2
+                },
+                ioctl: (id, buf) => {
+                    switch (id) {
+                        case IO.UART_SET_CONN: {
+                            // Set mode
+                            console.log("IO.UART_SET_CONN");
+                            for (let port = 0; port < DAL.NUM_INPUTS; port++) {
+                                const connection = buf.data[DevConOff.Connection + port]; // CONN_NONE, CONN_INPUT_UART
+                                const type = buf.data[DevConOff.Type + port];
+                                const mode = buf.data[DevConOff.Mode + port];
+                                console.log(`${port}, mode: ${mode}`)
+                                const node = ev3board().getInputNodes()[port];
+                                if (node) node.setMode(mode);
+                            }
+                            return 2;
+                        }
+                        case IO.UART_CLEAR_CHANGED: {
+                            console.log("IO.UART_CLEAR_CHANGED")
+                            for (let port = 0; port < DAL.NUM_INPUTS; port++) {
+                                const connection = buf.data[DevConOff.Connection + port]; // CONN_NONE, CONN_INPUT_UART
+                                const type = buf.data[DevConOff.Type + port];
+                                const mode = buf.data[DevConOff.Mode + port];
+                                const node = ev3board().getInputNodes()[port];
+                                if (node) node.setMode(mode);
+                            }
+                            return 2;
+                        }
+                        case IO.UART_READ_MODE_INFO: {
+                            console.log("IO.UART_READ_MODE_INFO")
+                            const port = buf.data[UartCtlOff.Port];
+                            const mode = buf.data[UartCtlOff.Mode];
+                            const node = ev3board().getInputNodes()[port];
+                            if (node) buf.data[UartCtlOff.TypeData + TypesOff.Type] = node.getDeviceType(); // DEVICE_TYPE_NONE, DEVICE_TYPE_TOUCH, 
+                            return 2;
+                        }
+                    }
+                    console.log("uart ioctl");
+                    console.log(id);
+                    console.log(buf);
+                    return 2;
+                }
+            })
+        }
+    }
+}
--- a/sim/state/ultrasonic.ts
+++ b/sim/state/ultrasonic.ts
@ -0,0 +1,28 @@
+/// <reference path="./sensor.ts"/>
+
+namespace pxsim {
+    export class UltrasonicSensorNode extends UartSensorNode {
+        id = NodeType.UltrasonicSensor;
+
+        private distance: number = 127; // in cm
+
+        constructor(port: number) {
+            super(port);
+        }
+
+        getDeviceType() {
+            return DAL.DEVICE_TYPE_ULTRASONIC;
+        }
+
+        setDistance(distance: number) {
+            if (this.distance != distance) {
+                this.distance = distance;
+                this.setChangedState();
+            }
+        }
+
+        getValue() {
+            return this.distance * 10; // convert to 0.1 cm
+        }
+    }
+}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Sam El-Husseini	51a14596cd	0.0.51	2018-01-04 11:41:49 -08:00
Sam El-Husseini	8518c446cd	Merge pull request #176 from Microsoft/iefonticons Fix font icons on IE, and add package icon on Windows	2018-01-04 11:40:42 -08:00
Sam El-Husseini	2f69df0d9d	Fix font icons on IE, and add package icon on Windows	2018-01-04 11:39:20 -08:00
Sam El-Husseini	1789d0ce21	Lowercase menubar titles.	2018-01-04 10:42:37 -08:00
Sam El-Husseini	d0809510c4	Merge pull request #174 from Microsoft/addbetatag Add beta tag.	2018-01-04 10:14:43 -08:00
Sam El-Husseini	6b9c0eaf65	Add beta tag. #150	2018-01-04 10:14:11 -08:00
Sam El-Husseini	52bdf94233	Merge pull request #173 from Microsoft/blockiconfont Add block icon font	2018-01-04 09:57:11 -08:00
Sam El-Husseini	fd50ed8f7c	Add block icon font	2018-01-04 09:52:12 -08:00
Peli de Halleux	ba0eb93b0f	use common packages tests implementation (#171 )	2018-01-04 09:23:28 -08:00
Sam El-Husseini	9a4ed45797	0.0.50	2018-01-04 09:19:33 -08:00
Sam El-Husseini	820fdf3a3c	Merge pull request #172 from Microsoft/fixwinicons Fix check and cancel icons on windows	2018-01-04 09:18:30 -08:00
Sam El-Husseini	348d5ffc26	Fix check and cancel icons on windows	2018-01-04 09:17:30 -08:00
Sam El-Husseini	95e47a0b25	Merge pull request #169 from Microsoft/screenimgeditor Initial screen field editor.	2018-01-04 08:37:56 -08:00
Sam El-Husseini	c3312ed5d1	Merge pull request #170 from Microsoft/clearcounts moving motor blocks around	2018-01-04 08:37:39 -08:00
Peli de Halleux	b7cdc7d0fe	moving blocks around	2018-01-04 08:25:02 -08:00
Sam El-Husseini	dde5a35cd9	Initial screen field editor. Adding Lego designer assets to legoresources	2018-01-03 17:20:35 -08:00
Sam El-Husseini	be398d84ee	Merge pull request #135 from Microsoft/field_ports Add an output port field editor	2018-01-03 17:07:34 -08:00
Sam El-Husseini	4445acce7a	Split editor extensions into multiple module loaded files. Re-using editor/deploy.ts for cmds. Fixing field ports	2018-01-03 16:18:39 -08:00
Sam El-Husseini	d6d8b0655b	Merge branch 'master' into field_ports	2018-01-03 15:12:35 -08:00
Sam El-Husseini	216aa1ddaf	Fix save icon	2018-01-03 15:07:45 -08:00
Sam El-Husseini	783a561941	0.0.49	2018-01-03 15:02:35 -08:00
Sam El-Husseini	c916664ae7	Fix download and save icons.	2018-01-03 15:02:24 -08:00
Sam El-Husseini	4b836ede1b	Merge pull request #167 from Microsoft/blockfixes Block layout fixes.	2018-01-03 14:22:18 -08:00
Sam El-Husseini	52fdaeec99	remove colon from print line block	2018-01-03 14:22:00 -08:00
Sam El-Husseini	2aaa45e10d	Merge pull request #168 from Microsoft/remainingiconfixes Remaining icon fixes.	2018-01-03 14:21:04 -08:00
Sam El-Husseini	7993363e89	Remaining icon fixes. Using blockIcons to show custom icons for built in categories	2018-01-03 14:20:33 -08:00
Sam El-Husseini	4d671f6cb0	Block layout fixes. Fixes to screen blocks. Adding print line API.	2018-01-03 14:00:08 -08:00
Sam El-Husseini	cc020d5a81	Merge pull request #124 from Microsoft/icon_font Icon font	2018-01-03 12:35:52 -08:00
Sam El-Husseini	5c39862a44	Fix the rest of the icons (sensors, math, variables and extensions)	2018-01-03 12:35:33 -08:00
Sam El-Husseini	e0e5c95989	Merge branch 'master' into icon_font	2018-01-03 11:56:28 -08:00
Sam El-Husseini	800b4ad224	Merge pull request #165 from Microsoft/fixnullrefthis Fix null ref for this when _update is called.	2018-01-03 11:42:38 -08:00
Caitlin Hennessy	40c3b4b0cf	Tweaking sensor icon	2018-01-03 11:36:43 -08:00
Caitlin Hennessy	64bdc35e6f	Merge paths for sensor icon	2018-01-03 11:29:49 -08:00
Sam El-Husseini	2b5f702bb6	Fix null ref for this when _update is called.	2018-01-03 11:20:37 -08:00
Peli de Halleux	1c81ecd23f	send ports data to console	2018-01-03 08:24:54 -08:00
Peli de Halleux	4d223374b5	Differential drive (#164 ) * clear sync speed cmd * differential drive model * use cm/s * fixed aggressive clearing of motor sync command * better computation of turn artio * improved robot dimensions * moving block up * hanbdle infinite case * correct handling of inifinte time/step * better stop handling	2018-01-03 00:27:05 -08:00
Sam El-Husseini	dd9cf9014f	Merge pull request #163 from Microsoft/fixnullderefbuttons Fix null dereferencing issue for buttons	2018-01-02 23:19:55 -08:00
Sam El-Husseini	eb11d7926c	Fix null dereferencing issue for buttons	2018-01-02 23:18:54 -08:00
Sam El-Husseini	609740dc48	Merge pull request #162 from Microsoft/moresensorfixes Better fix for null dereferencing issue.	2018-01-02 22:51:45 -08:00
Sam El-Husseini	955a2c9757	Better fix for null dereferencing issue. Fix initial Color sensor mode (default).	2018-01-02 22:51:12 -08:00
Sam El-Husseini	02838e6c30	Merge pull request #161 from Microsoft/colorgridfixes Update Color sensor control (colorGrid) to match spec	2018-01-02 22:30:04 -08:00
Sam El-Husseini	b0c54e84e6	Update Color sensor control (colorGrid) to match spec	2018-01-02 22:29:12 -08:00
Sam El-Husseini	b6644b7a23	Merge pull request #160 from Microsoft/sensorfixes Sensor fixes. Fix race condition	2018-01-02 22:23:14 -08:00
Sam El-Husseini	3c4c38eb59	Fix null dereferencing issue. Fix sensor mode changed not clearing cached control.	2018-01-02 22:22:14 -08:00
Sam El-Husseini	29aba7b10b	Fix advanced icons	2018-01-02 17:30:19 -08:00
Sam El-Husseini	7427142243	Merge branch 'icon_font' of https://github.com/Microsoft/pxt-ev3 into icon_font	2018-01-02 17:17:13 -08:00
Sam El-Husseini	436500babb	Merge	2018-01-02 17:11:24 -08:00
Caitlin Hennessy	82be4e344b	More work	2018-01-02 17:07:36 -08:00
Peli de Halleux	81bfca4ed6	0.0.48	2018-01-02 16:20:30 -08:00
Peli de Halleux	c35dbdd38f	Motor sync support in simulator (#159 ) * parse sync motor command * better sim support * sync support * fixing tank	2018-01-02 16:20:00 -08:00
Sam El-Husseini	1bc93013e6	0.0.47	2018-01-02 14:51:00 -08:00
Sam El-Husseini	58148eb1c3	Square shaped corners for Blockly blocks and dropdowns. (#158 )	2018-01-02 13:32:07 -08:00
Caitlin Hennessy	a7c62b45b2	Use legoIcons font for flyout headings	2018-01-02 13:01:28 -08:00
Sam El-Husseini	bd765d49ee	Add lego resources.AI	2018-01-02 12:59:48 -08:00
Caitlin Hennessy	383ca5467d	Remove advexpanded/advcollapsed	2018-01-02 12:49:25 -08:00
Caitlin Hennessy	e240e3b394	Check, cancel	2018-01-02 10:47:04 -08:00
Caitlin Hennessy	7affbf8cb6	Save, download	2018-01-02 10:47:04 -08:00
Caitlin Hennessy	4dff282633	Initial work	2018-01-02 10:47:04 -08:00
Sam El-Husseini	5d470fdcef	Merge pull request #143 from Microsoft/persistselected Persist selected state of controls across simulator restarts	2017-12-29 14:02:50 -08:00
Sam El-Husseini	f30eac41e9	Persist selected state of controls across simulator restarts	2017-12-28 11:17:18 -08:00
Sam El-Husseini	d7f46c0fb5	Hide screen picker properly from typescript	2017-12-28 11:15:53 -08:00
Peli de Halleux	58384017f2	0.0.46	2017-12-28 09:08:27 -08:00
Peli de Halleux	01f7fe633c	Motorworks2 (#141 ) * fixing polarity * allocate motor on motorUsed only * perform sub-step integration step for better precision	2017-12-28 09:07:57 -08:00
Sam El-Husseini	a9a9a89811	Better fonts and better alignment of motor reporter control	2017-12-27 20:43:39 -08:00
Sam El-Husseini	7e2251d8ac	Fix negative motor reporting	2017-12-27 20:35:36 -08:00
Sam El-Husseini	1903a6e347	Merge pull request #140 from Microsoft/motorreporters Add motor reporter control	2017-12-27 20:32:53 -08:00
Sam El-Husseini	2fb75a2d83	Added todo	2017-12-27 17:07:50 -08:00
Sam El-Husseini	0da175a8cd	Add motor reporter control	2017-12-27 17:06:23 -08:00
Peli de Halleux	f01370e4fd	Simulator support for motor commands (#137 ) * support for "step" functions * locale files * enum issue * fixing decoding of array * implement clear count * log unknown commands	2017-12-27 17:05:15 -08:00
Sam El-Husseini	751df2fe8c	Merge pull request #139 from Microsoft/colorandsliderresizefixes Fix resizing in controls to work for all sizes including full screen	2017-12-27 16:31:20 -08:00
Sam El-Husseini	8be4bb11d8	Fix resizing in controls to work for all sizes including full screen	2017-12-27 16:30:42 -08:00
Sam El-Husseini	342e714ae2	Merge pull request #138 from Microsoft/updatemotorassets Update motor SVG assets and connections	2017-12-27 14:48:50 -08:00
Sam El-Husseini	fb31b81f7e	Update motor SVG assets and connections	2017-12-27 14:48:15 -08:00
Sam El-Husseini	8204995749	Fix wire view to match spec size of wires.	2017-12-26 23:28:29 -08:00
Sam El-Husseini	85c14bb05a	Fix rotation and distance slider update state	2017-12-26 23:23:26 -08:00
Sam El-Husseini	c398a5a133	Update padding and fix wiring order	2017-12-26 23:19:04 -08:00
Sam El-Husseini	a1b059171b	Add a output port field editor	2017-12-24 17:46:58 -08:00
Sam El-Husseini	afaedaa0b2	Merge pull request #134 from Microsoft/fixflickering Fix resizing flickering issue in the simulator	2017-12-24 16:19:36 -08:00
Sam El-Husseini	0aa41e9a64	Fix resizing flickering issue, remove flip animation on start, remove the need for a default height and width in the layout engine	2017-12-24 11:59:01 -08:00
Sam El-Husseini	88df2e14cb	Merge pull request #125 from Microsoft/sim_refactor_resize Refactor sim for better resizing and support for multiple controls to be open	2017-12-22 14:01:35 -08:00
Sam El-Husseini	180f32f25c	Simulator refactoring to support better resizing of modules and controls	2017-12-22 14:00:23 -08:00
Caitlin Hennessy	995527675a	Check, cancel	2017-12-21 11:30:32 -08:00
Caitlin Hennessy	84eb849bc7	Save, download	2017-12-21 11:10:47 -08:00
Caitlin Hennessy	5e0e35b4bd	Initial work	2017-12-21 11:00:54 -08:00
Caitlin Hennessy	300a2c1476	Merge pull request #123 from Microsoft/gradient_circle Gradient circle	2017-12-20 16:34:59 -08:00
Caitlin Hennessy	703bd01931	Increase stroke width	2017-12-20 16:25:26 -08:00
Sam El-Husseini	75a65eeab2	Add lego icons	2017-12-20 16:16:13 -08:00
Caitlin Hennessy	38a9f153f7	pxtarget	2017-12-20 15:15:12 -08:00
Caitlin Hennessy	3c5dae8c7b	Small changes	2017-12-20 15:11:44 -08:00
Caitlin Hennessy	85345969d3	Initial work	2017-12-20 14:58:41 -08:00
Sam El-Husseini	ac1e5d2846	Remove constant resize	2017-12-19 21:20:06 -08:00
Sam El-Husseini	11b4bbc07e	Fix controls	2017-12-19 17:20:01 -08:00
Peli de Halleux	7f5b8aed99	more tweaking of angle encoding	2017-12-19 17:15:53 -08:00
Sam El-Husseini	c989e2fdab	Merge pull request #121 from Microsoft/motorphysics Motor work	2017-12-19 17:07:15 -08:00
Sam El-Husseini	d3dcb5de85	Use setChangedState for touch and color sensors	2017-12-19 17:01:45 -08:00
Peli de Halleux	9cca35d49f	encoding 32bit angle into data buffer	2017-12-19 16:54:44 -08:00
Peli de Halleux	7123bfecd3	removing cancel animation stuff	2017-12-19 16:21:14 -08:00
Peli de Halleux	c8ac770983	read motor state into lms_motor	2017-12-19 16:18:17 -08:00
Peli de Halleux	aa031036ee	updating motor state in game loop	2017-12-19 16:03:26 -08:00
Peli de Halleux	a7d002d949	0.0.45	2017-12-19 15:10:32 -08:00
Peli de Halleux	93fd8c8c78	removing more icons	2017-12-19 15:10:13 -08:00
Sam El-Husseini	1765ca2d35	Merge pull request #116 from Microsoft/revert_screenopt Use game loop instead of animation queue	2017-12-19 14:58:37 -08:00
Sam El-Husseini	1ab7ae6cfa	minor PR feedback	2017-12-19 14:57:28 -08:00
Caitlin Hennessy	3acf4e9ac5	More hardware tests (#119 )	2017-12-19 14:55:48 -08:00
Sam El-Husseini	ef5fa9ae82	Minor fix to killing the animation when the sim is killed	2017-12-19 14:55:43 -08:00
Caitlin Hennessy	e1f7a5b8cf	Merge pull request #118 from Microsoft/ambient_light_threshold Set high/low to 20/5 for ambient light mode	2017-12-19 14:42:54 -08:00
Caitlin Hennessy	2c73bfc813	Set high/low to 20/5	2017-12-19 14:40:30 -08:00
Peli de Halleux	d78d9c8686	basic ports view (#115 ) * basic ports view * slight adjustement of rendering	2017-12-19 14:26:57 -08:00
Sam El-Husseini	2157af3e63	Using game loop instead of queueAnimationUpdate	2017-12-19 14:20:35 -08:00
Peli de Halleux	eac3e183c3	better test support	2017-12-19 13:10:40 -08:00
Sam El-Husseini	785ddff706	Reverting screen optimization to use SetInterval and didChange	2017-12-19 12:53:12 -08:00
Peli de Halleux	e07d6e3a31	0.0.44	2017-12-19 11:53:50 -08:00
Peli de Halleux	763ad3f763	0.0.43	2017-12-19 11:38:02 -08:00
Peli de Halleux	919a03951c	Removing icons (#114 ) * removing icons * added "pause for light"	2017-12-19 11:37:33 -08:00
Peli de Halleux	9e427898ae	added test framework (#113 ) * added test framework * added toString on motors * enabling logs	2017-12-19 07:07:50 -08:00
Peli de Halleux	60bf3a17d3	a mini-console support with scroll up / down (#112 ) * a mini-console support with scroll up / down * fix compile error	2017-12-18 22:36:32 -08:00
Sam El-Husseini	0529759a80	Fix ultrasonic value to use cm instead of 0.1 cm units (#110 ) * Fix simulator * use 250 instead of 255	2017-12-18 20:30:56 -08:00
Peli de Halleux	b07f157181	0.0.42	2017-12-18 18:24:46 -08:00
Sam El-Husseini	2f5f7d4133	Merge pull request #111 from Microsoft/scale_screen Add tiny padding around the screen for the canvas.	2017-12-18 17:08:02 -08:00
Sam El-Husseini	e6e1dce59f	Add tiny padding around the screen for the canvas.	2017-12-18 17:07:23 -08:00
Peli de Halleux	43a9d03231	fixing pauseUntilReady signature	2017-12-18 14:45:44 -08:00
Peli de Halleux	c0f6cd3651	test passing on hw	2017-12-18 14:31:17 -08:00
Peli de Halleux	f1445c6e89	Motor pause until ready (#108 ) * adding command to pause until ready * adding console API * adding ready support for motors * fix time output scale * fixing angle	2017-12-18 14:13:38 -08:00
Sam El-Husseini	04275ee35c	0.0.41	2017-12-18 13:22:13 -08:00
Sam El-Husseini	f8d0594eca	Merge pull request #107 from Microsoft/initial_sim Initial sim implementation	2017-12-18 13:21:48 -08:00
Sam El-Husseini	5be3b31e00	Merge branch 'master' into initial_sim	2017-12-18 13:21:35 -08:00
Sam El-Husseini	84c1079e50	Fix Safari bug.	2017-12-18 13:19:49 -08:00
Sam El-Husseini	6320379d02	Initial sim implementation	2017-12-18 13:04:17 -08:00
Peli de Halleux	b166f6034e	storing test	2017-12-18 09:43:44 -08:00
Peli de Halleux	d07f672b28	fixing single motor set speed	2017-12-18 09:17:19 -08:00
Peli de Halleux	363e076f36	fixing motor compilation	2017-12-18 08:54:53 -08:00
Sam El-Husseini	8bf6f265f7	Merge pull request #105 from Microsoft/motorfixes Motor fixes	2017-12-18 00:54:53 -08:00
Peli de Halleux	217958aec3	fix polarity	2017-12-17 23:19:38 -08:00
Peli de Halleux	367b1b0d1a	properly setting multiple-motor options	2017-12-17 23:00:07 -08:00
Peli de Halleux	6836852122	refactoring motors wiht base class (#104 )	2017-12-17 22:47:13 -08:00
Sam El-Husseini	944098b9f9	Minor refactor fix (#102 ) * Minor fix to a refactor of motor output this.brake to this._brake * No (_this) in global context * Minor fix	2017-12-17 21:12:18 -08:00