0.0.62

Datalog (#233 )
* support for custom csv separator * simple datalog frameowrk * api strings * hide setfile * storage fixes * log seconds, not milliseconds
2018-01-11 22:56:34 -08:00 · 2018-01-11 22:53:28 -08:00 · 2018-01-11 21:36:43 -08:00 · 2018-01-11 20:05:45 -08:00 · 2018-01-11 14:08:14 -08:00 · 2018-01-11 14:08:01 -08:00
212 changed files with 15739 additions and 1568 deletions
--- a/README.md
+++ b/README.md
@ -4,7 +4,8 @@

 This repo contains the editor target hosted at https://d541eec2-1e96-4b7b-a223-da9d01d0337a.pxt.io/

-Issue tracker: https://src.education.lego.com/groups/ev3-makecode
+LEGO Auth: https://src.education.lego.com/groups/ev3-makecode (use Google Authenticator)
+LEGO Chat: https://chat.internal.education.lego.com/make-code/channels/town-square 

 ## Local Dev setup

--- a/cmds/cmds.ts
+++ b/cmds/cmds.ts
@ -2,14 +2,10 @@

 import * as fs from 'fs';

-require("./editor")
-
-declare namespace pxt.editor {
-    function deployCoreAsync(resp: pxtc.CompileResult, disconnect?: boolean): Promise<void>;
-}
+const deploy = require("./editor/deploy")

 export function deployCoreAsync(resp: pxtc.CompileResult) {
-    return pxt.editor.deployCoreAsync(resp, process.env["PXT_SERIAL"] ? false : true)
+    return deploy.deployCoreAsync(resp, process.env["PXT_SERIAL"] ? false : true)
        .then(() => {
            fs.writeFileSync("built/full-" + pxtc.BINARY_UF2, resp.outfiles[pxtc.BINARY_UF2], {
                encoding: "base64"
--- a/docs/coding.md
+++ b/docs/coding.md
@ -0,0 +1,171 @@
+# Coding Activites
+
+12 computer science activities, with cross-curricular opportunities in design and technology, science, and math.
+
+* [Download Curriculum Materials](https://education.lego.com/en-us/downloads/mindstorms-ev3)
+
+## Three Point Turn
+
+```codecard
+[
+{
+  "name": "Three Point Turn 1",
+  "description": "Activity 1",
+  "url":"/coding/three-point-turn-1",
+  "cardType": "example"
+}, {
+  "name": "Three Point Turn 2",
+  "description": "Activity 2",
+  "url":"/coding/three-point-turn-2",
+  "cardType": "example"
+}, {
+  "name": "Three Point Turn 3",
+  "description": "Activity 3",
+  "url":"/coding/three-point-turn-3",
+  "cardType": "example"
+}]
+```
+
+## Reversing the robot
+
+```codecard
+[{
+  "name": "Reversing the robot 1",
+  "description": "Activity 1",
+  "url":"/coding/reversing-the-robot-1",
+  "cardType": "example"
+}, {
+  "name": "Reversing the robot 2",
+  "description": "Activity 2",
+  "url":"/coding/reversing-the-robot-2",
+  "cardType": "example"
+}, {
+  "name": "Reversing the robot 3",
+  "description": "Activity 3",
+  "url":"/coding/reversing-the-robot-3",
+  "cardType": "example"
+}]
+```
+
+## Light the way
+
+```codecard
+[{
+  "name": "Light the way 1",
+  "description": "Activity 1",
+  "url":"/coding/light-the-way-1",
+  "cardType": "example"
+}, {
+  "name": "Light the way 2",
+  "description": "Activity 2",
+  "url":"/coding/light-the-way-2",
+  "cardType": "example"
+}, {
+  "name": "Light the way 3",
+  "description": "Activity 3",
+  "url":"/coding/light-the-way-3",
+  "cardType": "example"
+}    
+]
+```
+
+## Traffic Lights
+
+```codecard
+[{
+  "name": "Traffic Lights 1",
+  "description": "Activity 1",
+  "url":"/coding/traffic-lights-1",
+  "cardType": "example"
+}, {
+  "name": "Traffic Lights 2",
+  "description": "Activity 2",
+  "url":"/coding/traffic-lights-2",
+  "cardType": "example"
+}, {
+  "name": "Traffic Lights 3",
+  "description": "Activity 3",
+  "url":"/coding/traffic-lights-3",
+  "cardType": "example"
+}
+]
+```
+
+## Reverse Bepper
+
+```codecard
+[{
+  "name": "Reverse Beeper 1",
+  "description": "Activity 1",
+  "url":"/coding/reverse-beeper-1",
+  "cardType": "example"
+}, {
+  "name": "Reverse Beeper 2",
+  "description": "Activity 2",
+  "url":"/coding/reverse-beeper-2",
+  "cardType": "example"
+}, {
+  "name": "Reverse Beeper 3",
+  "description": "Activity 3",
+  "url":"/coding/reverse-beeper-3",
+  "cardType": "example"
+}]
+```
+
+## Ignition
+
+```codecard
+[{
+  "name": "Ignition 1",
+  "description": "Activity 1",
+  "url":"/coding/ingition-1",
+  "cardType": "example"
+}, {
+  "name": "Ignition 2",
+  "description": "Activity 2",
+  "url":"/coding/ignition-2",
+  "cardType": "example"
+}, {
+  "name": "Ignition 3",
+  "description": "Activity 3",
+  "url":"/coding/ignition-3",
+  "cardType": "example"
+}]
+```
+
+## Cruise Control
+
+```codecard
+[{
+  "name": "Cruise Control 1",
+  "description": "Activity 1",
+  "url":"/coding/cruise-control-1",
+  "cardType": "example"
+}, {
+  "name": "Cruise Control 2",
+  "description": "Activity 2",
+  "url":"/coding/cruise-control-2",
+  "cardType": "example"
+}, {
+  "name": "Cruise Control 3",
+  "description": "Activity 3",
+  "url":"/coding/cruise-control-3",
+  "cardType": "example"
+}]
+```
+
+## Roaming
+
+```codecard
+[{
+  "name": "Roaming 1",
+  "description": "Activity 1",
+  "url":"/coding/roaming-1",
+  "cardType": "example"
+}, {
+  "name": "Roaming 2",
+  "description": "Activity 2",
+  "url":"/coding/roaming-2",
+  "cardType": "example"
+}]
+```
--- a/docs/coding/cruise-control-1.md
+++ b/docs/coding/cruise-control-1.md
@ -0,0 +1,10 @@
+# Cruise Control Activity 1
+
+```blocks
+let speed = 0;
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    if (speed < 100)
+        speed = speed + 10;
+    motors.largeBC.setSpeed(speed);
+}) 
+```
--- a/docs/coding/cruise-control-2.md
+++ b/docs/coding/cruise-control-2.md
@ -0,0 +1,15 @@
+# Cruise Control Activity 2
+
+```blocks
+let speed = 0;
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    if (speed < 100)
+        speed = speed + 10;
+    motors.largeBC.setSpeed(speed);
+}) 
+sensors.touch2.onEvent(TouchSensorEvent.Pressed, function () {
+    if (speed > -100)
+        speed = speed - 10;
+    motors.largeBC.setSpeed(speed);
+}) 
+```
--- a/docs/coding/cruise-control-3.md
+++ b/docs/coding/cruise-control-3.md
@ -0,0 +1,28 @@
+# Cruise Control Activity 3
+
+```blocks
+let speed = 0
+function decelerate() {
+    if (speed > -100) {
+        speed = speed - 10
+    }
+}
+function accelerate() {
+    if (speed < 100) {
+        speed = speed + 10
+    }
+}
+function update() {
+    brick.clearScreen()
+    brick.showString("speed: " + speed, 1)
+    motors.largeBC.setSpeed(speed)
+}
+sensors.touch2.onEvent(TouchSensorEvent.Pressed, function () {
+    accelerate()
+    update()
+})
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    decelerate()
+    update()
+})
+```
--- a/docs/coding/ignition-1.md
+++ b/docs/coding/ignition-1.md
@ -0,0 +1,11 @@
+# Ignition Activity 1
+
+```blocks
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    brick.showImage(images.eyesDizzy)
+})
+sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjectDetected, function () {
+    brick.showImage(images.eyesTiredMiddle)
+})
+brick.showImage(images.eyesSleeping)
+```
--- a/docs/coding/ignition-2.md
+++ b/docs/coding/ignition-2.md
@ -0,0 +1,12 @@
+# Ignition Activity 2
+
+```blocks
+while (true) {
+    if (sensors.touch1.wasPressed() &&
+        sensors.ultrasonic4.distance() < 10) {
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
+    }
+    loops.pause(1);
+}
+```
--- a/docs/coding/ignition-3.md
+++ b/docs/coding/ignition-3.md
@ -0,0 +1,13 @@
+# Ignition Activity 3
+
+```blocks
+while (true) {
+    if (sensors.ultrasonic4.distance() < 10 &&
+        sensors.touch1.wasPressed() &&
+        brick.buttonEnter.wasPressed()) {
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
+        music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
+    }
+    loops.pause(1);
+}
+```
--- a/docs/coding/light-the-way-1.md
+++ b/docs/coding/light-the-way-1.md
@ -0,0 +1,9 @@
+# Light the way Activity 1
+
+```blocks
+sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Dark, function () {
+    brick.showImage(images.objectsLightOn)
+    loops.pause(5000)
+    brick.clearScreen()
+})
+```
--- a/docs/coding/light-the-way-2.md
+++ b/docs/coding/light-the-way-2.md
@ -0,0 +1,10 @@
+# Light the way Activity 2
+
+```blocks
+sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Bright, function () {
+    brick.clearScreen()
+})
+sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Dark, function () {
+    brick.showImage(images.objectsLightOn)
+})
+```
--- a/docs/coding/light-the-way-3.md
+++ b/docs/coding/light-the-way-3.md
@ -0,0 +1,13 @@
+# Light the way Activity 3
+
+```blocks
+sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Bright, function () {
+    brick.clearScreen()
+})
+sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Dark, function () {
+    brick.showImage(images.objectsLightOn)
+})
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+    brick.showImage(images.objectsLightOn);
+})
+```
--- a/docs/coding/reverse-beeper-1.md
+++ b/docs/coding/reverse-beeper-1.md
@ -0,0 +1,11 @@
+# Reverse Beeper Activity 1
+
+```blocks
+loops.forever(function () {
+    music.playTone(440, sensors.ultrasonic4.distance());
+    loops.pause(50)
+})
+motors.largeBC.setSpeed(-20);
+sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
+motors.largeBC.stop();
+```
--- a/docs/coding/reverse-beeper-2.md
+++ b/docs/coding/reverse-beeper-2.md
@ -0,0 +1,13 @@
+# Reverse Beeper Activity 2
+
+```blocks
+loops.forever(function () {
+    if (motors.largeB.speed() != 0 && sensors.ultrasonic4.distance() < 20) {
+        music.playTone(440, sensors.ultrasonic4.distance());
+        loops.pause(50)
+    }
+})
+motors.largeBC.setSpeed(-20);
+sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
+motors.largeBC.stop();
+```
--- a/docs/coding/reverse-beeper-3.md
+++ b/docs/coding/reverse-beeper-3.md
@ -0,0 +1,20 @@
+# Reverse Beeper Activity 2
+
+```blocks
+let beep = false
+beep = true
+control.runInBackground(function () {
+    motors.largeBC.setSpeed(-20)
+    sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear)
+    motors.largeBC.stop()
+    beep = false
+})
+control.runInBackground(function () {
+    while (beep) {
+        if (sensors.ultrasonic4.distance() < 20) {
+            music.playTone(440, sensors.ultrasonic4.distance())
+            loops.pause(50)
+        }
+    }
+})
+```
--- a/docs/coding/reversing-the-robot-1.md
+++ b/docs/coding/reversing-the-robot-1.md
@ -0,0 +1,14 @@
+# Reversing the robot Activity 1
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    motors.largeBC.setSpeed(50)
+    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+    motors.largeBC.setSpeed(0)
+    loops.pause(1000)
+    brick.setLight(LightsPattern.OrangeFlash)
+    motors.largeBC.setSpeed(-50)
+    loops.pause(2000)
+    motors.largeBC.setSpeed(0)
+})
+```
--- a/docs/coding/reversing-the-robot-2.md
+++ b/docs/coding/reversing-the-robot-2.md
@ -0,0 +1,15 @@
+# Reversing the robot Activity 2
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+    motors.largeBC.setSpeed(50)
+    sensors.touchSensor2.pauseUntil(TouchSensorEvent.Pressed)
+    motors.largeBC.setSpeed(0)
+    loops.pause(1000)
+    brick.setLight(LightsPattern.OrangeFlash)
+    motors.largeBC.setSpeed(-50)
+    loops.pause(2000)
+    motors.largeBC.setSpeed(0)
+})
+```
--- a/docs/coding/reversing-the-robot-3.md
+++ b/docs/coding/reversing-the-robot-3.md
@ -0,0 +1,19 @@
+# Reversing the robot Activity 3
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    brick.showImage(images.eyesSleeping)
+    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+    brick.showImage(images.eyesNeutral)
+    motors.largeBC.setSpeed(50)
+    sensors.touchSensor2.pauseUntil(TouchSensorEvent.Pressed)
+    brick.showImage(images.eyesTiredMiddle)
+    motors.largeBC.setSpeed(0)
+    loops.pause(1000)
+    brick.setLight(LightsPattern.OrangeFlash)
+    brick.showImage(images.eyesDizzy)
+    motors.largeBC.setSpeed(-50)
+    loops.pause(2000)
+    motors.largeBC.setSpeed(0)
+})
+```
--- a/docs/coding/roaming-1.md
+++ b/docs/coding/roaming-1.md
@ -0,0 +1,36 @@
+# Roaming Activity 1
+
+```blocks
+let drive: number[] = []
+brick.buttonLeft.onEvent(ButtonEvent.Click, function () {
+    drive.push(1)
+})
+brick.buttonRight.onEvent(ButtonEvent.Click, function () {
+    drive.push(3)
+})
+brick.buttonUp.onEvent(ButtonEvent.Click, function () {
+    drive.push(4)
+})
+brick.buttonDown.onEvent(ButtonEvent.Click, function () {
+    drive.push(5)
+})
+pauseUntil(() => drive.length >= 5)
+loops.pause(1000)
+music.playSoundEffectUntilDone(sounds.communicationGo)
+for (let d of drive) {
+    if (d == 1) {
+        motors.largeC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeC.pauseUntilReady()
+    } else if (d == 3) {
+        motors.largeB.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeB.pauseUntilReady()
+    } else if (d == 4) {
+        motors.largeBC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    } else {
+        motors.largeBC.setSpeedFor(-50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    }
+}
+music.playSoundEffectUntilDone(sounds.communicationGameOver)
+```
--- a/docs/coding/roaming-2.md
+++ b/docs/coding/roaming-2.md
@ -0,0 +1,40 @@
+# Roaming Activity 2
+
+```blocks
+let drive: number[] = []
+brick.buttonLeft.onEvent(ButtonEvent.Click, function () {
+    drive.push(1)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonRight.onEvent(ButtonEvent.Click, function () {
+    drive.push(3)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonUp.onEvent(ButtonEvent.Click, function () {
+    drive.push(4)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonDown.onEvent(ButtonEvent.Click, function () {
+    drive.push(5)
+    music.playSoundEffectUntilDone(sounds.systemClick)
+})
+brick.buttonEnter.pauseUntil(ButtonEvent.Click);
+loops.pause(1000)
+music.playSoundEffectUntilDone(sounds.communicationGo)
+for (let d of drive) {
+    if (d == 1) {
+        motors.largeC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeC.pauseUntilReady()
+    } else if (d == 3) {
+        motors.largeB.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeB.pauseUntilReady()
+    } else if (d == 4) {
+        motors.largeBC.setSpeedFor(50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    } else {
+        motors.largeBC.setSpeedFor(-50, 360, MoveUnit.Degrees)
+        motors.largeBC.pauseUntilReady()
+    }
+}
+music.playSoundEffectUntilDone(sounds.communicationGameOver)
+```
--- a/docs/coding/three-point-turn-1.md
+++ b/docs/coding/three-point-turn-1.md
@ -0,0 +1,12 @@
+# Three Point Turn Activity 1
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    motors.largeBC.tank(75, 30)
+    loops.pause(1500)
+    motors.largeBC.tank(-30, -75)
+    loops.pause(1000)
+    motors.largeBC.tank(50, 50)
+    loops.pause(3000)
+})
+```
--- a/docs/coding/three-point-turn-2.md
+++ b/docs/coding/three-point-turn-2.md
@ -0,0 +1,14 @@
+# Three Point Turn Activity 2
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    motors.largeBC.tank(75, 30)
+    loops.pause(1500)
+    motors.largeBC.tank(-30, -75)
+    sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
+    motors.largeBC.tank(0, 0)
+    loops.pause(1000)
+    motors.largeBC.tank(50, 50)
+    loops.pause(3000)
+})
+```
--- a/docs/coding/three-point-turn-3.md
+++ b/docs/coding/three-point-turn-3.md
@ -0,0 +1,15 @@
+# Three Point Turn Activity 3
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    motors.largeBC.tank(75, 30)
+    loops.pause(1500)
+    motors.largeBC.tank(-30, -75)
+    sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
+    motors.largeBC.tank(0, 0)
+    music.playSoundEffect(sounds.animalsDogBark1)
+    loops.pause(1000)
+    motors.largeBC.tank(50, 50)
+    loops.pause(3000)
+})
+```
--- a/docs/coding/traffic-lights-1.md
+++ b/docs/coding/traffic-lights-1.md
@ -0,0 +1,9 @@
+# Traffic Lights Activity 1
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+    motors.largeBC.tank(20, 20)
+    sensors.color3.pauseForColor(ColorSensorColor.Red)
+    motors.largeBC.tank(0, 0)
+})
+```
--- a/docs/coding/traffic-lights-2.md
+++ b/docs/coding/traffic-lights-2.md
@ -0,0 +1,10 @@
+# Traffic Lights Activity 2
+
+```blocks
+sensors.color3.onColorDetected(ColorSensorColor.Red, function () {
+    motors.largeBC.tank(0, 0)  
+})
+sensors.color3.onColorDetected(ColorSensorColor.Green, function () {
+    motors.largeBC.tank(20, 20)
+})
+```
--- a/docs/coding/traffic-lights-3.md
+++ b/docs/coding/traffic-lights-3.md
@ -0,0 +1,11 @@
+# Traffic Lights Activity 3
+
+```blocks
+loops.forever(function () {
+    if (sensors.color3.light(LightIntensityMode.Reflected) < 15) {
+        motors.largeBC.tank(30, 12)
+    } else {
+        motors.largeBC.tank(12, 30)
+    }
+})
+```
--- a/docs/examples/line-follower-pid.md
+++ b/docs/examples/line-follower-pid.md
@ -0,0 +1,50 @@
+# Gradien follower PID + calibration
+
+```blocks
+let lasterror = 0
+let D = 0
+let I = 0
+let P = 0
+let error = 0
+let setpoint = 0
+let max = 0
+let min = 0
+let v = 0
+v = sensors.color3.light(LightIntensityMode.Reflected)
+min = v
+max = v
+setpoint = v
+while (!(brick.buttonEnter.wasPressed())) {
+    brick.clearScreen()
+    brick.showString("Move robot on terrain", 1)
+    brick.showString("Press ENTER when done", 2)
+    v = sensors.color3.light(LightIntensityMode.Reflected)
+    min = Math.min(min, v)
+    max = Math.max(max, v)
+    setpoint = (max + min) / 2
+    brick.showValue("v", v, 3)
+    brick.showValue("min", min, 4)
+    brick.showValue("max", v, 5)
+    brick.showValue("setpoint", setpoint, 6)
+    loops.pause(100)
+}
+loops.forever(function () {
+    brick.clearScreen()
+    v = sensors.color3.light(LightIntensityMode.Reflected)
+    brick.showValue("light", v, 1)
+    error = v - setpoint
+    brick.showValue("error", error, 2)
+    P = error * 5
+    brick.showValue("P", P, 3)
+    I = I + error * 0.01
+    brick.showValue("I", I, 4)
+    D = (error - lasterror) * 0.2
+    brick.showValue("D", D, 5)
+    motors.largeBC.steer(P + (I + D), 100)
+    lasterror = error
+    if (brick.buttonEnter.wasPressed()) {
+        motors.largeBC.setSpeed(0)
+        brick.buttonDown.pauseUntil(ButtonEvent.Click)
+    }
+})
+```
--- a/docs/static/avatar.svg
+++ b/docs/static/avatar.svg
@ -0,0 +1,109 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 22.0.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
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+	<path id="Path_203" class="st0" d="M5321.6-8124.6c-0.2,0-0.4,0.1-0.6,0.1c0.1,0.2,0.1,0.4,0.2,0.6c0.1,0.4,0.2,0.8,0.1,1.2
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+	<path id="Path_204" class="st0" d="M5315.7-8135.8c0.2,0,0.3,0.1,0.5,0.1c0.5,0.1,1,0.2,1.5,0.2c0.2,0,0.5,0,0.7,0
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+	<path id="Path_205" class="st0" d="M5327.3-8117.7c-0.3,0.1-0.5,0.2-0.8,0.2c-0.6,0.2-1.1,0.3-1.7,0.5c0,0-0.1,0-0.1,0.1
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+		z"/>
+	<path id="Path_206" class="st0" d="M5327-8135.8c0,0.1,0,0.2,0,0.4c0.1,0.5,0.3,0.9,0.7,1.1c0.1,0.1,0.3,0.1,0.4,0.2l0,0
+		C5327.8-8134.7,5327.4-8135.2,5327-8135.8L5327-8135.8z"/>
+	<path id="Path_207" class="st0" d="M5329-8134.4c-0.1,0.1-0.2,0.2-0.3,0.4c0,0,0,0,0,0.1c0,0.1,0,0.1,0.1,0.1c0.1,0,0.2,0,0.3-0.1
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+</g>
+</svg>
--- a/docs/static/fonts/icons/iconfont.css
+++ b/docs/static/fonts/icons/iconfont.css
@ -1,8 +1,8 @@
@font-face {
 	font-family: "iconfont";
-	src: url("iconfont.eot?e05611aaee246c1da118a83eaf515de9?#iefix") format("embedded-opentype"),
-url("iconfont.woff2?e05611aaee246c1da118a83eaf515de9") format("woff2"),
-url("iconfont.woff?e05611aaee246c1da118a83eaf515de9") format("woff");
+	src: url("iconfont.eot?8b7e57577c2d1f1ae9e810b9e010bc84?#iefix") format("embedded-opentype"),
+url("iconfont.woff2?8b7e57577c2d1f1ae9e810b9e010bc84") format("woff2"),
+url("iconfont.woff?8b7e57577c2d1f1ae9e810b9e010bc84") format("woff");
 }

 .icon {
@ -28,3 +28,66 @@ url("iconfont.woff?e05611aaee246c1da118a83eaf515de9") format("woff");
 .icon-gyro:before {
 	content: "\f104";
 }
+.icon-addpackage:before {
+	content: "\f105";
+}
+.icon-brick:before {
+	content: "\f106";
+}
+.icon-controls:before {
+	content: "\f107";
+}
+.icon-functions:before {
+	content: "\f108";
+}
+.icon-list:before {
+	content: "\f109";
+}
+.icon-logic:before {
+	content: "\f10a";
+}
+.icon-loops:before {
+	content: "\f10b";
+}
+.icon-math:before {
+	content: "\f10c";
+}
+.icon-motors:before {
+	content: "\f10d";
+}
+.icon-music:before {
+	content: "\f10e";
+}
+.icon-sensors:before {
+	content: "\f10f";
+}
+.icon-text:before {
+	content: "\f110";
+}
+.icon-variables:before {
+	content: "\f111";
+}
+.icon-console:before {
+	content: "\f112";
+}
+.icon-advancedcollapsed:before {
+	content: "\f113";
+}
+.icon-advancedexpanded:before {
+	content: "\f114";
+}
+.icon-cancel:before {
+	content: "\f115";
+}
+.icon-check:before {
+	content: "\f116";
+}
+.icon-download:before {
+	content: "\f117";
+}
+.icon-save:before {
+	content: "\f118";
+}
+.icon-blocks:before {
+	content: "\f119";
+}
--- 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
@ -19,6 +19,69 @@
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      unicode="&#xF104;"
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+    <glyph glyph-name="addpackage"
+      unicode="&#xF105;"
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+    <glyph glyph-name="brick"
+      unicode="&#xF106;"
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+    <glyph glyph-name="controls"
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+    <glyph glyph-name="functions"
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+    <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="console"
+      unicode="&#xF112;"
+      horiz-adv-x="40" d=" M15.6 21.3L2.3 15L2.3 19.8L11.1 23.6L2.3 27.4L2.3 32.2L15.6 25.9L15.6 21.3z M36 9.1L16.6 9.1L16.6 12.2L36 12.2L36 9.1z" />
+    <glyph glyph-name="advancedcollapsed"
+      unicode="&#xF113;"
+      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="&#xF114;"
+      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="&#xF115;"
+      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="&#xF116;"
+      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="&#xF117;"
+      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="&#xF118;"
+      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="&#xF119;"
+      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/docs/static/loader_back.svg
+++ b/docs/static/loader_back.svg
@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="301.499" height="179.742" viewBox="0 0 282.655 168.508"><g transform="translate(-41.005 -446.364)"><rect ry="30" rx="30" y="458.77" x="53.41" height="143.698" width="105.312" stroke="#000" stroke-width="17.724" stroke-linecap="round" stroke-linejoin="round"/><rect width="105.668" height="144.183" x="53.232" y="458.527" rx="30.101" ry="30.101" fill="#fff"/></g><g transform="translate(111.528 -446.364)"><rect width="105.312" height="143.698" x="53.41" y="458.77" rx="30" ry="30" stroke="#000" stroke-width="17.724" stroke-linecap="round" stroke-linejoin="round"/><rect ry="30.101" rx="30.101" y="458.527" x="53.232" height="144.183" width="105.668" fill="#fff"/></g></svg>
--- a/docs/static/loader_front.svg
+++ b/docs/static/loader_front.svg
@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="301.499" height="179.742" viewBox="0 0 282.655 168.508"><g stroke="#000" stroke-linecap="round" stroke-linejoin="round"><g transform="translate(124.66 -243.829)"><circle r="25.968" cy="356.872" cx="-38.891" fill="none"/><circle cx="-38.891" cy="356.872" r="21.013" stroke-width=".809"/><path d="M-30.581 341.741a13.835 13.835 0 0 1 5.76 4.504l-11.099 8.26z" fill="#fff" stroke-width=".533"/></g><g transform="translate(277.193 -243.829)"><circle cx="-38.891" cy="356.872" r="25.968" fill="none"/><circle r="21.013" cy="356.872" cx="-38.891" stroke-width=".809"/><path d="M-30.581 341.741a13.835 13.835 0 0 1 5.76 4.504l-11.099 8.26z" fill="#fff" stroke-width=".533"/></g></g></svg>
--- a/docs/static/loader_full.svg
+++ b/docs/static/loader_full.svg
@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="301.499" height="179.742" viewBox="0 0 282.655 168.508"><g transform="translate(-41.005 -446.364)"><rect ry="30" rx="30" y="458.77" x="53.41" height="143.698" width="105.312" stroke="#000" stroke-width="17.724" stroke-linecap="round" stroke-linejoin="round"/><rect width="105.668" height="144.183" x="53.232" y="458.527" rx="30.101" ry="30.101" fill="#fff"/></g><g transform="translate(124.66 -243.829)" stroke="#000" stroke-linecap="round" stroke-linejoin="round"><circle r="25.968" cy="356.872" cx="-38.891" fill="none"/><circle cx="-38.891" cy="356.872" r="21.013" stroke-width=".809"/><path d="M-30.581 341.741a13.835 13.835 0 0 1 5.76 4.504l-11.099 8.26z" fill="#fff" stroke-width=".533"/></g><g transform="translate(111.528 -446.364)"><rect width="105.312" height="143.698" x="53.41" y="458.77" rx="30" ry="30" stroke="#000" stroke-width="17.724" stroke-linecap="round" stroke-linejoin="round"/><rect ry="30.101" rx="30.101" y="458.527" x="53.232" height="144.183" width="105.668" fill="#fff"/></g><g transform="translate(277.193 -243.829)" stroke="#000" stroke-linecap="round" stroke-linejoin="round"><circle cx="-38.891" cy="356.872" r="25.968" fill="none"/><circle r="21.013" cy="356.872" cx="-38.891" stroke-width=".809"/><path d="M-30.581 341.741a13.835 13.835 0 0 1 5.76 4.504l-11.099 8.26z" fill="#fff" stroke-width=".533"/></g></svg>
--- a/editor/deploy.ts
+++ b/editor/deploy.ts
@ -0,0 +1,134 @@
+/// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+import UF2 = pxtc.UF2;
+
+export let ev3: pxt.editor.Ev3Wrapper
+
+export function debug() {
+    return initAsync()
+        .then(w => w.downloadFileAsync("/tmp/dmesg.txt", v => console.log(pxt.Util.uint8ArrayToString(v))))
+}
+
+function hf2Async() {
+    return pxt.HF2.mkPacketIOAsync()
+        .then(h => {
+            let w = new pxt.editor.Ev3Wrapper(h)
+            ev3 = w
+            return w.reconnectAsync(true)
+                .then(() => w)
+        })
+}
+
+let noHID = false
+
+let initPromise: Promise<pxt.editor.Ev3Wrapper>
+export function initAsync() {
+    if (initPromise)
+        return initPromise
+
+    let canHID = false
+    if (pxt.U.isNodeJS) {
+        // doesn't seem to work ATM
+        canHID = false
+    } else {
+        const forceHexDownload = /forceHexDownload/i.test(window.location.href);
+        if (pxt.Cloud.isLocalHost() && pxt.Cloud.localToken && !forceHexDownload)
+            canHID = true
+    }
+
+    if (noHID)
+        canHID = false
+
+    if (canHID) {
+        initPromise = hf2Async()
+            .catch(err => {
+                initPromise = null
+                noHID = true
+                return Promise.reject(err)
+            })
+    } else {
+        noHID = true
+        initPromise = Promise.reject(new Error("no HID"))
+    }
+
+    return initPromise
+}
+
+// this comes from aux/pxt.lms
+const rbfTemplate = `
+4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
+74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
+`
+export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
+    let w: pxt.editor.Ev3Wrapper
+
+    let filename = resp.downloadFileBaseName || "pxt"
+    filename = filename.replace(/^lego-/, "")
+
+    let fspath = "../prjs/BrkProg_SAVE/"
+
+    let elfPath = fspath + filename + ".elf"
+    let rbfPath = fspath + filename + ".rbf"
+
+    let rbfHex = rbfTemplate
+        .replace(/\s+/g, "")
+        .replace("XX", pxt.U.toHex(pxt.U.stringToUint8Array(elfPath)))
+    let rbfBIN = pxt.U.fromHex(rbfHex)
+    pxt.HF2.write16(rbfBIN, 4, rbfBIN.length)
+
+    let origElfUF2 = UF2.parseFile(pxt.U.stringToUint8Array(atob(resp.outfiles[pxt.outputName()])))
+
+    let mkFile = (ext: string, data: Uint8Array = null) => {
+        let f = UF2.newBlockFile()
+        f.filename = "Projects/" + filename + ext
+        if (data)
+            UF2.writeBytes(f, 0, data)
+        return f
+    }
+
+    let elfUF2 = mkFile(".elf")
+    for (let b of origElfUF2) {
+        UF2.writeBytes(elfUF2, b.targetAddr, b.data)
+    }
+
+    let r = UF2.concatFiles([elfUF2, mkFile(".rbf", rbfBIN)])
+    let data = UF2.serializeFile(r)
+
+    resp.outfiles[pxtc.BINARY_UF2] = btoa(data)
+
+    let saveUF2Async = () => {
+        if (isCli || !pxt.commands.saveOnlyAsync) {
+            return Promise.resolve()
+        } else {
+            return pxt.commands.saveOnlyAsync(resp)
+        }
+    }
+
+    if (noHID) return saveUF2Async()
+
+    return initAsync()
+        .then(w_ => {
+            w = w_
+            if (w.isStreaming)
+                pxt.U.userError("please stop the program first")
+            return w.stopAsync()
+        })
+        .then(() => w.rmAsync(elfPath))
+        .then(() => w.flashAsync(elfPath, UF2.readBytes(origElfUF2, 0, origElfUF2.length * 256)))
+        .then(() => w.flashAsync(rbfPath, rbfBIN))
+        .then(() => w.runAsync(rbfPath))
+        .then(() => {
+            if (isCli)
+                return w.disconnectAsync()
+            else
+                return Promise.resolve()
+            //return Promise.delay(1000).then(() => w.dmesgAsync())
+        }).catch(e => {
+            // if we failed to initalize, retry
+            if (noHID)
+                return saveUF2Async()
+            else
+                return Promise.reject(e)
+        })
+}
--- a/editor/extension.ts
+++ b/editor/extension.ts
@ -1,152 +1,146 @@
-/// <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";
+import { FieldSpeed } from "./field_speed";
+import { FieldBrickButtons } from "./field_brickbuttons";
+import { FieldTurnRatio } from "./field_turnratio";
+
+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
+        }, {
+            selector: "speed",
+            editor: FieldSpeed
+        }, {
+            selector: "brickbuttons",
+            editor: FieldBrickButtons
+        }, {
+            selector: "turnratio",
+            editor: FieldTurnRatio
+        }],
+        deployCoreAsync
+    };
+    initAsync().catch(e => {
+        // probably no HID - we'll try this again upon deployment
+    })
+    return Promise.resolve<pxt.editor.ExtensionResult>(res);
+}
+
+/**
+ * Update the shape of Blockly blocks with square corners
+ */
+function updateBlocklyShape() {
+
+    /**
+     * Rounded corner radius.
+     * @const
+     */
+    (Blockly.BlockSvg as any).CORNER_RADIUS = 0 * (Blockly.BlockSvg as any).GRID_UNIT;
+
+    /**
+     * Inner space between edge of statement input and notch.
+     * @const
+     */
+    (Blockly.BlockSvg as any).STATEMENT_INPUT_INNER_SPACE = 3 * (Blockly.BlockSvg as any).GRID_UNIT;
+    /**
+     * SVG path for drawing next/previous notch from left to right.
+     * @const
+     */
+    (Blockly.BlockSvg as any).NOTCH_PATH_LEFT = (
+        'l 8,8 ' +
+        'h 16 ' +
+        'l 8,-8 '
+    );
+
+    /**
+     * SVG path for drawing next/previous notch from right to left.
+     * @const
+     */
+    (Blockly.BlockSvg as any).NOTCH_PATH_RIGHT = (
+        'l -8,8 ' +
+        'h -16 ' +
+        'l -8,-8 '
+    );
+
+    /**
+     * SVG start point for drawing the top-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_LEFT_CORNER_START =
+        'm 0,' + 0;
+
+    /**
+     * SVG path for drawing the rounded top-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_LEFT_CORNER =
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0 ';
+
+    /**
+     * SVG path for drawing the rounded top-right corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).TOP_RIGHT_CORNER =
+        'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS;
+
+    /**
+     * SVG path for drawing the rounded bottom-right corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).BOTTOM_RIGHT_CORNER =
+        'l 0,' + (Blockly.BlockSvg as any).CORNER_RADIUS;
+
+    /**
+     * SVG path for drawing the rounded bottom-left corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).BOTTOM_LEFT_CORNER =
+        'l -' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',0';
+
+    /**
+     * SVG path for drawing the top-left corner of a statement input.
+     * @const
+     */
+    (Blockly.BlockSvg as any).INNER_TOP_LEFT_CORNER =
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',-' + 0;
+
+    /**
+     * SVG path for drawing the bottom-left corner of a statement input.
+     * Includes the rounded inside corner.
+     * @const
+     */
+    (Blockly.BlockSvg as any).INNER_BOTTOM_LEFT_CORNER =
+        'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS * 2 +
+        'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',' + 0;
+
+    /**
+     * Corner radius of the flyout background.
+     * @type {number}
+     * @const
+     */
+    (Blockly as any).Flyout.prototype.CORNER_RADIUS = 0;
+
+    /**
+     * Margin around the edges of the blocks in the flyout.
+     * @type {number}
+     * @const
+     */
+    (Blockly as any).Flyout.prototype.MARGIN = 8;
+
+}

 // When require()d from node, bind the global pxt namespace
-namespace pxt {
-    export const dummyExport = 1;
-}
-eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")
-
-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_brickbuttons.ts
+++ b/editor/field_brickbuttons.ts
@ -0,0 +1,159 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldPortsOptions extends Blockly.FieldCustomDropdownOptions {
+    columns?: string;
+    width?: string;
+}
+
+export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    // Width in pixels
+    private width_: number;
+
+    // Columns in grid
+    private columns_: number;
+
+    private savedPrimary_: string;
+
+    constructor(text: string, options: FieldPortsOptions, validator?: Function) {
+        super(options.data);
+
+        this.columns_ = parseInt(options.columns) || 4;
+        this.width_ = parseInt(options.width) || 150;
+    }
+
+    /**
+     * Create a dropdown menu under the text.
+     * @private
+     */
+    public showEditor_() {
+        // If there is an existing drop-down we own, this is a request to hide the drop-down.
+        if (Blockly.DropDownDiv.hideIfOwner(this)) {
+            return;
+        }
+        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
+        Blockly.DropDownDiv.hideWithoutAnimation();
+        Blockly.DropDownDiv.clearContent();
+        // Populate the drop-down with the icons for this field.
+        let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
+        let contentDiv = document.createElement('div');
+        // Accessibility properties
+        contentDiv.setAttribute('role', 'menu');
+        contentDiv.setAttribute('aria-haspopup', 'true');
+
+        const buttonsSVG = document.createElementNS("http://www.w3.org/2000/svg", "svg") as SVGGElement;
+        pxsim.svg.hydrate(buttonsSVG, {
+            viewBox: "0 0 256.68237 256.68237",
+            width: this.width_,
+            height: this.width_
+        });
+        contentDiv.appendChild(buttonsSVG);
+
+        const gWrapper = pxsim.svg.child(buttonsSVG, 'g', { 'transform': 'translate(-4.695057,58.29823)' });
+        const gInnerWrapper = pxsim.svg.child(gWrapper, 'g', { 'transform': 'translate(3.9780427e-6,-32.677281)' });
+
+        const back = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#6a6a6a;stroke-width:3.91719985',
+            d: 'M 106.30882,198.38022 C 84.431262,177.26258 50.453467,142.52878 50.453467,142.52878 v -7.12931 H 37.087971 a 32.381533,32.381533 0 1 1 0,-64.763062 H 50.457376 V 63.503186 L 105.71731,7.0563355 h 55.25604 c 25.02699,25.5048885 55.25994,55.2599395 55.25994,55.2599395 v 8.320133 h 12.77398 a 32.381533,32.381533 0 0 1 0,64.763062 h -12.77398 v 7.13323 c -29.43384,30.27603 -54.66454,55.85144 -54.66454,55.85144 z'
+        })
+
+        const buttonLeft = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'm 36.492567,78.357208 h 40.69971 V 126.48393 H 36.492567 A 24.063359,24.063359 0 0 1 12.429199,102.42057 v 0 A 24.063359,24.063359 0 0 1 36.492567,78.357208 Z'
+        })
+
+        const buttonRight = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'M 229.00727,126.48784 H 188.30756 V 78.361126 h 40.69971 a 24.063359,24.063359 0 0 1 24.06335,24.063354 v 0 a 24.063359,24.063359 0 0 1 -24.06335,24.06336 z'
+        })
+
+        const buttonEnter = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#3c3c3c;stroke-width:3.91719985',
+            d: 'm 109.27806,78.357208 h 46.9398 a 1.782326,1.782326 0 0 1 1.78233,1.782326 V 124.7016 a 1.782326,1.782326 0 0 1 -1.78233,1.78233 h -46.9398 a 1.782326,1.782326 0 0 1 -1.78233,-1.78233 V 80.139534 a 1.782326,1.782326 0 0 1 1.78233,-1.782326 z'
+        })
+
+        const buttonTop = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'm 108.09114,15.967966 49.90905,-0.59542 37.43276,38.619675 -15.44943,15.449437 V 97.367379 H 165.7249 V 81.306861 A 11.978797,11.978797 0 0 0 153.84012,69.422075 c -11.59883,-0.184102 -43.37516,0 -43.37516,0 A 9.6676495,9.6676495 0 0 0 100.36251,79.520618 V 97.347793 H 86.103905 V 69.422075 L 70.654464,53.97264 Z'
+        })
+
+        const buttonBottom = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'M 157.78865,189.01028 108.18908,189.38233 70.654464,150.794 86.323259,135.4895 v -28.08625 h 14.101921 v 16.11144 a 12.006218,12.006218 0 0 0 11.85346,11.9788 c 11.59882,0.1841 43.13227,0 43.13227,0 a 10.18472,10.18472 0 0 0 10.38059,-10.38058 v -17.70966 h 14.39179 v 28.08632 l 15.3045,15.3045 z'
+        })
+
+        const buttons = [buttonEnter, buttonLeft, buttonRight, buttonTop, buttonBottom];
+        const options = this.getOptions();
+        for (let i = 0, option: any; option = options[i]; i++) {
+            let content = (options[i] as any)[0]; // Human-readable text or image.
+            const value = (options[i] as any)[1]; // Language-neutral value.
+            const button = buttons[i];
+            button.setAttribute('id', ':' + i); // For aria-activedescendant
+            button.setAttribute('role', 'menuitem');
+            button.setAttribute('cursor', 'pointer');
+            const title = pxsim.svg.child(button, 'title');
+            title.textContent = content;
+
+            Blockly.bindEvent_(button, 'click', this, this.buttonClick_);
+            Blockly.bindEvent_(button, 'mouseup', this, this.buttonClick_);
+            // These are applied manually instead of using the :hover pseudoclass
+            // because Android has a bad long press "helper" menu and green highlight
+            // that we must prevent with ontouchstart preventDefault
+            Blockly.bindEvent_(button, 'mousedown', button, function (e) {
+                this.setAttribute('stroke', '#ffffff');
+                e.preventDefault();
+            });
+            Blockly.bindEvent_(button, 'mouseover', button, function () {
+                this.setAttribute('stroke', '#ffffff');
+            });
+            Blockly.bindEvent_(button, 'mouseout', button, function () {
+                this.setAttribute('stroke', 'transparent');
+            });
+
+            button.setAttribute('data-value', value);
+        }
+
+        contentDiv.style.width = this.width_ + 'px';
+        dropdownDiv.appendChild(contentDiv);
+
+        Blockly.DropDownDiv.setColour('#ffffff', '#dddddd');
+
+        // Calculate positioning based on the field position.
+        var scale = this.sourceBlock_.workspace.scale;
+        var bBox = { width: this.size_.width, height: this.size_.height };
+        bBox.width *= scale;
+        bBox.height *= scale;
+        var position = this.fieldGroup_.getBoundingClientRect();
+        var primaryX = position.left + bBox.width / 2;
+        var primaryY = position.top + bBox.height;
+        var secondaryX = primaryX;
+        var secondaryY = position.top;
+        // Set bounds to workspace; show the drop-down.
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
+            this.onHide_.bind(this));
+    }
+
+    /**
+     * Callback for when a button is clicked inside the drop-down.
+     * Should be bound to the FieldIconMenu.
+     * @param {Event} e DOM event for the click/touch
+     * @private
+     */
+    private buttonClick_ = function (e: any) {
+        let value = e.target.getAttribute('data-value');
+        this.setValue(value);
+        Blockly.DropDownDiv.hide();
+    };
+
+    /**
+     * Callback for when the drop-down is hidden.
+     */
+    private onHide_ = function () {
+        Blockly.DropDownDiv.content_.removeAttribute('role');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
+    };
+}
--- 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 +1,151 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldPortsOptions extends Blockly.FieldCustomDropdownOptions {
+    columns?: string;
+    width?: string;
+}
+
+export class FieldPorts extends Blockly.FieldDropdown implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    // Width in pixels
+    private width_: number;
+
+    // Columns in grid
+    private columns_: number;
+
+    private savedPrimary_: string;
+
+    constructor(text: string, options: FieldPortsOptions, validator?: Function) {
+        super(options.data);
+
+        this.columns_ = parseInt(options.columns) || 4;
+        this.width_ = parseInt(options.width) || 300;
+    }
+
+    trimOptions_() {
+    }
+
+    /**
+     * Create a dropdown menu under the text.
+     * @private
+     */
+    public showEditor_() {
+        // If there is an existing drop-down we own, this is a request to hide the drop-down.
+        if (Blockly.DropDownDiv.hideIfOwner(this)) {
+            return;
+        }
+        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
+        Blockly.DropDownDiv.hideWithoutAnimation();
+        Blockly.DropDownDiv.clearContent();
+        // Populate the drop-down with the icons for this field.
+        let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
+        let contentDiv = document.createElement('div');
+        // Accessibility properties
+        contentDiv.setAttribute('role', 'menu');
+        contentDiv.setAttribute('aria-haspopup', 'true');
+        let options = this.getOptions();
+        options = options.sort();
+        for (let i = 0, option: any; option = options[i]; i++) {
+            let content = (options[i] as any)[0]; // Human-readable text or image.
+            const value = (options[i] as any)[1]; // Language-neutral value.
+            // Icons with the type property placeholder take up space but don't have any functionality
+            // Use for special-case layouts
+            if (content.type == 'placeholder') {
+                let placeholder = document.createElement('span');
+                placeholder.setAttribute('class', 'blocklyDropDownPlaceholder');
+                placeholder.style.width = content.width + 'px';
+                placeholder.style.height = content.height + 'px';
+                contentDiv.appendChild(placeholder);
+                continue;
+            }
+            let button = document.createElement('button');
+            button.setAttribute('id', ':' + i); // For aria-activedescendant
+            button.setAttribute('role', 'menuitem');
+            button.setAttribute('class', 'blocklyDropDownButton');
+            button.title = content.alt;
+            if (this.columns_) {
+                button.style.width = ((this.width_ / this.columns_) - 8) + 'px';
+                button.style.height = ((this.width_ / this.columns_) - 8) + 'px';
+            } else {
+                button.style.width = content.width + 'px';
+                button.style.height = content.height + 'px';
+            }
+            let backgroundColor = this.sourceBlock_.getColour();
+            if (value == this.getValue()) {
+                // This icon is selected, show it in a different colour
+                backgroundColor = this.sourceBlock_.getColourTertiary();
+                button.setAttribute('aria-selected', 'true');
+            }
+            button.style.backgroundColor = backgroundColor;
+            button.style.borderColor = this.sourceBlock_.getColourTertiary();
+            Blockly.bindEvent_(button, 'click', this, this.buttonClick_);
+            Blockly.bindEvent_(button, 'mouseup', this, this.buttonClick_);
+            // These are applied manually instead of using the :hover pseudoclass
+            // because Android has a bad long press "helper" menu and green highlight
+            // that we must prevent with ontouchstart preventDefault
+            Blockly.bindEvent_(button, 'mousedown', button, function (e) {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                e.preventDefault();
+            });
+            Blockly.bindEvent_(button, 'mouseover', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                contentDiv.setAttribute('aria-activedescendant', this.id);
+            });
+            Blockly.bindEvent_(button, 'mouseout', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton');
+                contentDiv.removeAttribute('aria-activedescendant');
+            });
+            let buttonImg = document.createElement('img');
+            buttonImg.src = content.src;
+            //buttonImg.alt = icon.alt;
+            // Upon click/touch, we will be able to get the clicked element as e.target
+            // Store a data attribute on all possible click targets so we can match it to the icon.
+            button.setAttribute('data-value', value);
+            buttonImg.setAttribute('data-value', value);
+            button.appendChild(buttonImg);
+            contentDiv.appendChild(button);
+        }
+        contentDiv.style.width = this.width_ + 'px';
+        dropdownDiv.appendChild(contentDiv);
+
+        Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
+
+        // Calculate positioning based on the field position.
+        var scale = this.sourceBlock_.workspace.scale;
+        var bBox = { width: this.size_.width, height: this.size_.height };
+        bBox.width *= scale;
+        bBox.height *= scale;
+        var position = this.fieldGroup_.getBoundingClientRect();
+        var primaryX = position.left + bBox.width / 2;
+        var primaryY = position.top + bBox.height;
+        var secondaryX = primaryX;
+        var secondaryY = position.top;
+        // Set bounds to workspace; show the drop-down.
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
+            this.onHide_.bind(this));
+    }
+
+    /**
+     * Callback for when a button is clicked inside the drop-down.
+     * Should be bound to the FieldIconMenu.
+     * @param {Event} e DOM event for the click/touch
+     * @private
+     */
+    private buttonClick_ = function (e: any) {
+        let value = e.target.getAttribute('data-value');
+        this.setValue(value);
+        Blockly.DropDownDiv.hide();
+    };
+
+    /**
+     * Callback for when the drop-down is hidden.
+     */
+    private onHide_ = function () {
+        Blockly.DropDownDiv.content_.removeAttribute('role');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
+    };
+}
--- a/editor/field_speed.ts
+++ b/editor/field_speed.ts
@ -0,0 +1,96 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldSpeedOptions extends Blockly.FieldCustomOptions {
+    min?: string;
+    max?: string;
+    label?: string;
+}
+
+export class FieldSpeed extends Blockly.FieldSlider implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    private params: any;
+
+    private speedSVG: SVGElement;
+    private circleBar: SVGCircleElement;
+    private reporter: SVGTextElement;
+
+    /**
+     * Class for a color wheel field.
+     * @param {number|string} value The initial content of the field.
+     * @param {Function=} opt_validator An optional function that is called
+     *     to validate any constraints on what the user entered.  Takes the new
+     *     text as an argument and returns either the accepted text, a replacement
+     *     text, or null to abort the change.
+     * @extends {Blockly.FieldNumber}
+     * @constructor
+     */
+    constructor(value_: any, params: FieldSpeedOptions, opt_validator?: Function) {
+        super(String(value_), '-100', '100', null, '10', 'Speed', opt_validator);
+        this.params = params;
+        if (this.params['min']) this.min_ = parseFloat(this.params.min);
+        if (this.params['max']) this.max_ = parseFloat(this.params.max);
+        if (this.params['label']) this.labelText_ = this.params.label;
+
+        (this as any).sliderColor_ = '#a8aaa8';
+    }
+
+    createLabelDom_(labelText: string) {
+        var labelContainer = document.createElement('div');
+        this.speedSVG = document.createElementNS("http://www.w3.org/2000/svg", "svg") as SVGGElement;
+        pxsim.svg.hydrate(this.speedSVG, {
+            viewBox: "0 0 200 100"
+        });
+
+        labelContainer.appendChild(this.speedSVG);
+
+        const outerCircle = pxsim.svg.child(this.speedSVG, "circle", {
+            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
+            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
+            'stroke': '#a8aaa8', 'stroke-width': '1rem'
+        }) as SVGCircleElement;
+        this.circleBar = pxsim.svg.child(this.speedSVG, "circle", {
+            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
+            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
+            'stroke': '#f12a21', 'stroke-width': '1rem'
+        }) as SVGCircleElement;
+
+        this.reporter = pxsim.svg.child(this.speedSVG, "text", {
+            'x': 100, 'y': 80,
+            'text-anchor': 'middle', 'alignment-baseline': 'middle',
+            'style': 'font-size: 50px',
+            'class': 'sim-text inverted number'
+        }) as SVGTextElement;
+
+        // labelContainer.setAttribute('class', 'blocklyFieldSliderLabel');
+        var readout = document.createElement('span');
+        readout.setAttribute('class', 'blocklyFieldSliderReadout');
+        // var label = document.createElement('span');
+        // label.setAttribute('class', 'blocklyFieldSliderLabelText');
+        // label.innerHTML = labelText;
+        // labelContainer.appendChild(label);
+        // labelContainer.appendChild(readout);
+        return [labelContainer, readout];
+    };
+
+    setReadout_(readout: Element, value: string) {
+        this.updateSpeed(parseFloat(value));
+        // Update reporter
+        this.reporter.textContent = `${value}%`;
+    }
+
+    private updateSpeed(speed: number) {
+        let sign = this.sign(speed);
+        speed = (Math.abs(speed) / 100 * 50) + 50;
+        if (sign == -1) speed = 50 - speed;
+        let c = Math.PI * (90 * 2);
+        let pct = ((100 - speed) / 100) * c;
+        this.circleBar.setAttribute('stroke-dashoffset', `${pct}`);
+    }
+
+    // A re-implementation of Math.sign (since IE11 doesn't support it)
+    private sign(num: number) {
+        return num ? num < 0 ? -1 : 1 : 0;
+    }
+}
--- a/editor/field_turnratio.ts
+++ b/editor/field_turnratio.ts
@ -0,0 +1,108 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldTurnRatioOptions extends Blockly.FieldCustomOptions {
+}
+
+export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    private params: any;
+
+    private path_: SVGPathElement;
+    private reporter_: SVGTextElement;
+
+    /**
+     * Class for a color wheel field.
+     * @param {number|string} value The initial content of the field.
+     * @param {Function=} opt_validator An optional function that is called
+     *     to validate any constraints on what the user entered.  Takes the new
+     *     text as an argument and returns either the accepted text, a replacement
+     *     text, or null to abort the change.
+     * @extends {Blockly.FieldNumber}
+     * @constructor
+     */
+    constructor(value_: any, params: FieldTurnRatioOptions, opt_validator?: Function) {
+        super(String(value_), '-100', '100', null, '10', 'TurnRatio', opt_validator);
+        this.params = params;
+        (this as any).sliderColor_ = '#a8aaa8';
+    }
+
+    static HALF = 80;
+    static HANDLE_RADIUS = 30;
+    static RADIUS = FieldTurnRatio.HALF - FieldTurnRatio.HANDLE_RADIUS - 1;
+
+    createLabelDom_(labelText: string) {
+        let labelContainer = document.createElement('div');
+        let svg = Blockly.utils.createSvgElement('svg', {
+            'xmlns': 'http://www.w3.org/2000/svg',
+            'xmlns:html': 'http://www.w3.org/1999/xhtml',
+            'xmlns:xlink': 'http://www.w3.org/1999/xlink',
+            'version': '1.1',
+            'height': (FieldTurnRatio.HALF + FieldTurnRatio.HANDLE_RADIUS + 10) + 'px',
+            'width': (FieldTurnRatio.HALF * 2) + 'px'
+        }, labelContainer);
+        let defs = Blockly.utils.createSvgElement('defs', {}, svg);
+        let marker = Blockly.utils.createSvgElement('marker', {
+            'id': 'head',
+            'orient': "auto",
+            'markerWidth': '2',
+            'markerHeight': '4',
+            'refX': '0.1', 'refY': '1.5'
+        }, defs);
+        let markerPath = Blockly.utils.createSvgElement('path', {
+            'd': 'M0,0 V3 L1.5,1.5 Z',
+            'fill': '#f12a21'
+        }, marker);
+        this.reporter_ = pxsim.svg.child(svg, "text", {
+            'x': FieldTurnRatio.HALF, 'y': 96,
+            'text-anchor': 'middle', 'alignment-baseline': 'middle',
+            'style': 'font-size: 50px',
+            'class': 'sim-text inverted number'
+        }) as SVGTextElement;
+        this.path_ = Blockly.utils.createSvgElement('path', {
+            'x1': FieldTurnRatio.HALF,
+            'y1': FieldTurnRatio.HALF,
+            'marker-end': 'url(#head)',
+            'style': 'fill: none; stroke: #f12a21; stroke-width: 10'
+        }, svg);
+        this.updateGraph_();
+        let readout = document.createElement('span');
+        readout.setAttribute('class', 'blocklyFieldSliderReadout');
+        return [labelContainer, readout];
+    };
+
+    updateGraph_() {
+        if (!this.path_) {
+            return;
+        }
+        let v = goog.math.clamp(parseFloat(this.getText()), -100, 100);
+        if (isNaN(v)) {
+            v = 0;
+        }
+
+        const x = goog.math.clamp(parseFloat(this.getText()), -100, 100) / 100;
+        const theta = x * Math.PI / 2;
+        const cx = FieldTurnRatio.HALF;
+        const cy = FieldTurnRatio.HALF - 14;
+        const gamma = Math.PI - 2 * theta;
+        const r = FieldTurnRatio.RADIUS;
+        const alpha = 0.2 + Math.abs(x) * 0.5;
+        const x1 = 0;
+        const y1 = r * alpha;
+        const y2 = r * Math.sin(Math.PI / 2 - theta);
+        const x2 = r * Math.cos(Math.PI / 2 - theta);
+        const y3 = y2 - r * alpha * Math.cos(2 * theta);
+        const x3 = x2 - r * alpha * Math.sin(2 * theta);
+
+
+        const d = `M ${cx} ${cy} C ${cx} ${cy - y1} ${cx + x3} ${cy - y3} ${cx + x2} ${cy - y2}`;
+        this.path_.setAttribute('d', d);
+
+        this.reporter_.textContent = `${v}`;
+    }
+
+    setReadout_(readout: Element, value: string) {
+        this.updateGraph_();
+    }
+}
--- 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/libs/behaviors/_locales/behaviors-jsdoc-strings.json
+++ b/libs/behaviors/_locales/behaviors-jsdoc-strings.json
@ -0,0 +1,14 @@
+{
+  "behaviors": "Behavior drive blocks",
+  "behaviors.Behavior": "A behavior",
+  "behaviors.BehaviorManager": "A manager for behaviors",
+  "behaviors.BehaviorManager.add": "Adds a new behavior to the behavior manager",
+  "behaviors.BehaviorManager.add|param|behavior": "the behavior to add",
+  "behaviors.BehaviorManager.start": "Starts the behavior control loop",
+  "behaviors.BehaviorManager.stop": "Stops the execution loop",
+  "behaviors.addBehavior": "Adds the behavior and starts it",
+  "behaviors.addBehavior|param|behavior": "a behavior",
+  "behaviors.avoidCrash": "A behavior that stops all motors if the sensor distance get too short",
+  "behaviors.driveForward": "A behavior that turns on the motors to the specified speed",
+  "behaviors.driveForward|param|motors": "@param speed the desired speed, eg: 50"
+}
--- a/libs/behaviors/_locales/behaviors-strings.json
+++ b/libs/behaviors/_locales/behaviors-strings.json
@ -0,0 +1,7 @@
+{
+  "behaviors.addBehavior|block": "add behavior %behavior",
+  "behaviors.avoidCrash|block": "avoid crash using %ultrasonic",
+  "behaviors.driveForward|block": "drive %motors|forward at %speed=motorSpeedPicker|%",
+  "behaviors|block": "behaviors",
+  "{id:category}Behaviors": "Behaviors"
+}
--- a/libs/behaviors/pxt.json
+++ b/libs/behaviors/pxt.json
@ -0,0 +1,6 @@
+{
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/behaviors",
+    "dependencies": {
+        "core": "file:../ev3"
+    }
+}
--- a/libs/behaviors/targetoverrides.ts
+++ b/libs/behaviors/targetoverrides.ts
@ -0,0 +1,56 @@
+namespace behaviors {
+    class AvoidCrashBehavior extends behaviors.Behavior {
+        private ultrasonic: sensors.UltraSonicSensor;
+        constructor(ultrasonic: sensors.UltraSonicSensor) {
+            super();
+            this.ultrasonic = ultrasonic;
+        }
+
+        shouldRun(): boolean {
+            return this.ultrasonic.distance() < 5;
+        }
+
+        run(): void {
+            motors.stopAllMotors();
+            this.active = false;
+        }
+    }
+
+    /**
+     * A behavior that stops all motors if the sensor distance get too short
+     */
+    //% blockId=behaviorsAvoidCrash block="avoid crash using %ultrasonic"
+    export function avoidCrash(ultrasonic: sensors.UltraSonicSensor) : behaviors.Behavior {
+        return new AvoidCrashBehavior(ultrasonic);
+    }
+
+    class DriveForwardBehavior extends behaviors.Behavior {
+        private motors: motors.MotorBase;
+        private speed: number;
+        constructor(motors: motors.MotorBase, speed: number) {
+            super();
+            this.motors = motors;
+            this.speed = speed;
+        }
+
+        shouldRun(): boolean { 
+            return true;
+        }
+
+        run(): void {
+            this.motors.setSpeed(this.speed);
+            pauseUntil(() => !this.active);
+            this.motors.setSpeed(0);
+        }
+    }
+
+    /**
+     * A behavior that turns on the motors to the specified speed
+     * @param motors 
+     * @param speed the desired speed, eg: 50
+     */
+    //% blockId=behaviorsDriveForward block="drive %motors|forward at %speed=motorSpeedPicker|%"
+    export function driveForward(motors: motors.MotorBase, speed: number): behaviors.Behavior {
+        return new DriveForwardBehavior(motors, speed);
+    }
+}
--- a/libs/chassis/README.md
+++ b/libs/chassis/README.md
@ -0,0 +1,3 @@
+# Chassis
+
+A library to control a chassis.
--- a/libs/chassis/_locales/chassis-jsdoc-strings.json
+++ b/libs/chassis/_locales/chassis-jsdoc-strings.json
@ -0,0 +1,11 @@
+{
+  "chassis.Chassis": "A differential drive robot",
+  "chassis.Chassis.drive": "Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)\nusing a unicycle model.",
+  "chassis.Chassis.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
+  "chassis.Chassis.drive|param|speed": "speed of the center point between motors, eg: 10",
+  "chassis.Chassis.drive|param|value": "the amount of movement, eg: 2",
+  "chassis.Chassis.setMotors": "Sets the motors used by the chassis, default is B+C",
+  "chassis.Chassis.setProperty": "Sets a property of the robot",
+  "chassis.Chassis.setProperty|param|property": "the property to set",
+  "chassis.Chassis.setProperty|param|value": "the value to set"
+}
--- a/libs/chassis/_locales/chassis-strings.json
+++ b/libs/chassis/_locales/chassis-strings.json
@ -0,0 +1,9 @@
+{
+  "ChassisProperty.BaseLength|block": "base length (cm)",
+  "ChassisProperty.WheelRadius|block": "wheel radius (cm)",
+  "chassis.Chassis.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s",
+  "chassis.Chassis.setMotors|block": "set %chassis|motors to %motors",
+  "chassis.Chassis.setProperty|block": "set %chassis|%property|to %value",
+  "chassis|block": "chassis",
+  "{id:category}Chassis": "Chassis"
+}
--- a/libs/chassis/chassis.ts
+++ b/libs/chassis/chassis.ts
@ -0,0 +1,88 @@
+enum ChassisProperty {
+    //% block="wheel radius (cm)"
+    WheelRadius,
+    //% block="base length (cm)"
+    BaseLength
+}
+
+namespace chassis {
+    /**
+     * A differential drive robot
+     */
+    //% fixedInstances
+    export class Chassis {
+        // the motor pair
+        public motors: motors.SynchedMotorPair;
+        // the radius of the wheel (cm)
+        public wheelRadius: number;
+        // the distance between the wheels (cm)
+        public baseLength: number;
+
+        constructor() {
+            this.motors = motors.largeBC;
+            this.wheelRadius = 3;
+            this.baseLength = 12;
+        }
+
+        /**
+         * Makes a differential drive robot move with a given speed (cm/s) 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"
+        //% inlineInputMode=inline
+        //% weight=95 blockGap=8
+        drive(speed: number, rotationSpeed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
+            // 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.motors.tank(sr, sl, value, unit)
+        }
+
+        /**
+         * Sets a property of the robot
+         * @param property the property to set
+         * @param value  the value to set
+         */
+        //% blockId=chassisSetProperty block="set %chassis|%property|to %value"
+        //% blockGap=8
+        //% weight=10
+        setProperty(property: ChassisProperty, value: number) {
+            switch (property) {
+                case ChassisProperty.WheelRadius:
+                    this.wheelRadius = Math.max(0.1, value); break;
+                case ChassisProperty.BaseLength:
+                    this.baseLength = Math.max(0.1, value); break;
+            }
+        }
+
+        /**
+         * Sets the motors used by the chassis, default is B+C
+         * @param motors 
+         */
+        //% blockId=chassisSetMotors block="set %chassis|motors to %motors"
+        //% weight=10
+        setMotors(motors: motors.SynchedMotorPair) {
+            this.motors = motors;
+        }
+    }
+
+    //% fixedInstance whenUsed
+    export const chassis = new Chassis();
+}
--- a/libs/chassis/pxt.json
+++ b/libs/chassis/pxt.json
@ -0,0 +1,15 @@
+{
+    "name": "chassis",
+    "description": "Chassis robot support",
+    "files": [
+        "README.md",
+        "chassis.ts"
+    ],
+    "testFiles": [
+        "test.ts"
+    ],
+    "public": true,
+    "dependencies": {
+            "core": "file:../core"
+    }
+}
--- a/libs/chassis/test.ts
+++ b/libs/chassis/test.ts
@ -0,0 +1 @@
+
--- a/libs/color-sensor/_locales/color-sensor-jsdoc-strings.json
+++ b/libs/color-sensor/_locales/color-sensor-jsdoc-strings.json
@ -11,5 +11,8 @@
  "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"
+  "sensors.ColorSensor.pauseForLight": "Waits for the given color to be detected",
+  "sensors.ColorSensor.setThreshold": "Sets a threshold value",
+  "sensors.ColorSensor.setThreshold|param|condition": "the dark or bright light condition",
+  "sensors.ColorSensor.setThreshold|param|value": "the value threshold"
 }
--- a/libs/color-sensor/_locales/color-sensor-strings.json
+++ b/libs/color-sensor/_locales/color-sensor-strings.json
@ -18,12 +18,14 @@
  "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.ColorSensor.pauseForLight|block": "pause %sensor|for %mode|%condition",
+  "sensors.ColorSensor.setThreshold|block": "set %sensor|%condition|to %value",
  "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"
+  "{id:group}Color Sensor": "Color Sensor",
+  "{id:group}Threshold": "Threshold"
 }
--- 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());
        }

@ -110,6 +111,7 @@ namespace sensors {
        //% blockId=colorOnColorDetected
        //% parts="colorsensor"
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=100 blockGap=8
        //% group="Color Sensor"
        onColorDetected(color: ColorSensorColor, handler: () => void) {
@ -129,6 +131,7 @@ namespace sensors {
        //% blockId=colorPauseForColorDetected
        //% parts="colorsensor"
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=99 blockGap=8
        //% group="Color Sensor"
        pauseForColor(color: ColorSensorColor) {
@ -148,7 +151,8 @@ namespace sensors {
        //% blockId=colorGetColor
        //% parts="colorsensor"
        //% blockNamespace=sensors
-        //% weight=99
+        //% sensor.fieldEditor="ports"
+        //% weight=98
        //% group="Color Sensor"
        color(): ColorSensorColor {
            this.setMode(ColorSensorMode.Color)
@ -165,6 +169,7 @@ namespace sensors {
        //% blockId=colorOnLightChanged
        //% parts="colorsensor"
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=89 blockGap=8
        //% group="Color Sensor"
        onLightChanged(mode: LightIntensityMode, condition: LightCondition, handler: () => void) {
@ -177,10 +182,11 @@ namespace sensors {
         * @param color the color to detect
         */
        //% help=sensors/color-sensor/pause-for-light
-        //% block="pause %sensor|for %mode|light %condition"
+        //% block="pause %sensor|for %mode|%condition"
        //% blockId=colorPauseForLight
        //% parts="colorsensor"
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=88 blockGap=8
        //% group="Color Sensor"
        pauseForLight(mode: LightIntensityMode, condition: LightCondition) {
@ -198,6 +204,7 @@ namespace sensors {
        //% blockId=colorLight
        //% parts="colorsensor"
        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
        //% weight=87
        //% group="Color Sensor"
        light(mode: LightIntensityMode) {
@ -214,17 +221,32 @@ namespace sensors {
        reflectedLight() {
            return this.light(LightIntensityMode.Reflected);
        }
+
+        /**
+         * Sets a threshold value
+         * @param condition the dark or bright light condition
+         * @param value the value threshold
+         */
+        //% blockId=colorSetThreshold block="set %sensor|%condition|to %value"
+        //% group="Threshold" blockGap=8 weight=90
+        //% value.min=0 value.max=100
+        setThreshold(condition: LightCondition, value: number) {
+            if (condition == LightCondition.Dark)
+                this.thresholdDetector.setLowThreshold(value)
+            else
+                this.thresholdDetector.setHighThreshold(value);
+        }
    }

+    //% whenUsed block="color 3" weight=90 fixedInstance jres=icons.port3
+    export const color3: ColorSensor = new ColorSensor(3)
+    
    //% whenUsed block="color 1" weight=95 fixedInstance jres=icons.port1
    export const color1: ColorSensor = new ColorSensor(1)

    //% whenUsed block="color 2" weight=90 fixedInstance jres=icons.port2
    export const color2: ColorSensor = new ColorSensor(2)

-    //% whenUsed block="color 3" weight=90 fixedInstance jres=icons.port3
-    export const color3: ColorSensor = new ColorSensor(3)
-
    //% whenUsed block="color 4" weight=90 fixedInstance jres=icons.port4
    export const color4: ColorSensor = new ColorSensor(4)
 }
--- a/libs/core/_locales/core-jsdoc-strings.json
+++ b/libs/core/_locales/core-jsdoc-strings.json
@ -1,4 +1,5 @@
 {
+  "BrickLight": "Patterns for lights under the buttons.",
  "ButtonEvent": "User interaction on buttons",
  "Draw": "Drawing modes",
  "Image.buffer": "Returns the underlaying Buffer object.",
@ -6,14 +7,15 @@
  "Image.draw": "Draw an image on the screen.",
  "Image.height": "Returns the height of an image.",
  "Image.width": "Returns the width of an image.",
-  "LightsPattern": "Patterns for lights under the buttons.",
  "MMap.getNumber": "Read a number in specified format from the buffer.",
  "MMap.ioctl": "Perform ioctl(2) on the underlaying file",
  "MMap.length": "Returns the length of a Buffer object.",
+  "MMap.lseek": "Set pointer on the underlaying file.",
  "MMap.read": "Perform read(2) on the underlaying file",
  "MMap.setNumber": "Write a number in specified format in the buffer.",
  "MMap.slice": "Read a range of bytes into a buffer.",
  "MMap.write": "Perform write(2) on the underlaying file",
+  "SeekWhence": "Mode for lseek()",
  "brick.Button": "Generic button class, for device buttons and sensors.",
  "brick.Button.isPressed": "Check if button is currently pressed or not.",
  "brick.Button.onEvent": "Do something when a button or sensor is clicked, up or down.",
@ -21,29 +23,27 @@
  "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.batteryLevel": "Returns the current battery level",
  "brick.buttonDown": "Down button on the EV3 Brick.",
  "brick.buttonEnter": "Enter button on the EV3 Brick.",
  "brick.buttonLeft": "Left button on the EV3 Brick.",
  "brick.buttonRight": "Right button on the EV3 Brick.",
  "brick.buttonUp": "Up button on the EV3 Brick.",
  "brick.clearScreen": "Clears the screen",
-  "brick.lightPattern": "Pattern block.",
-  "brick.lightPattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
-  "brick.print": "Show text on the screen.",
  "brick.printPorts": "Prints the port states on the screen",
-  "brick.print|param|text": "the text to print on the screen, eg: \"Hello world\"",
-  "brick.print|param|x": "the starting position's x coordinate, eg: 0",
-  "brick.print|param|y": "the starting position's x coordinate, eg: 0",
  "brick.setLight": "Set lights.",
-  "brick.setLight|param|pattern": "the lights pattern to use.",
-  "brick.setPixel": "Sets a pixel on or off",
-  "brick.setPixel|param|on": "a value indicating if the pixel should be on or off",
-  "brick.setPixel|param|x": "the starting position's x coordinate, eg: 0",
-  "brick.setPixel|param|y": "the starting position's x coordinate, eg: 0",
+  "brick.setLight|param|pattern": "the lights pattern to use. eg: BrickLight.Orange",
  "brick.showImage": "Shows an image on screen",
  "brick.showImage|param|image": "image to draw",
+  "brick.showNumber": "Shows a number on the screen",
+  "brick.showNumber|param|line": "the line number to print the text at, eg: 1",
+  "brick.showNumber|param|value": "the numeric value",
+  "brick.showString": "Show text on the screen at a specific line.",
+  "brick.showString|param|line": "the line number to print the text at, eg: 1",
+  "brick.showString|param|text": "the text to print on the screen, eg: \"Hello world\"",
+  "brick.showValue": "Shows a name, value pair on the screen",
+  "brick.showValue|param|line": "the line number to print the text at, eg: 1",
+  "brick.showValue|param|value": "the numeric value",
  "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.",
@ -59,33 +59,35 @@
  "control.raiseEvent": "Announce that an event happened to registered handlers.",
  "control.raiseEvent|param|src": "ID of the Component that generated the event",
  "control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
-  "motors.Motor.angle": "Gets motor ration angle.",
-  "motors.Motor.clearCount": "Clears the motor count",
+  "motors.Motor.angle": "Gets motor angle.",
+  "motors.Motor.clearCounts": "Clears the motor count",
+  "motors.Motor.setRegulated": "Indicates if the motor speed should be regulated. Default is true.",
+  "motors.Motor.setRegulated|param|value": "true for regulated motor",
  "motors.Motor.speed": "Gets motor actual speed.",
+  "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": "Sets the motor speed for limited time or distance.",
  "motors.MotorBase.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
+  "motors.MotorBase.setSpeed|param|unit": "(optional) unit of the value",
+  "motors.MotorBase.setSpeed|param|value": "(optional) measured distance or rotation",
  "motors.MotorBase.stop": "Stops the motor(s).",
  "motors.SynchedMotorPair.steer": "Turns the motor and the follower motor by a number of rotations",
  "motors.SynchedMotorPair.steer|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
-  "motors.SynchedMotorPair.steer|param|steering": "the ratio of power sent to the follower motor, from ``-100`` to ``100``",
-  "motors.SynchedMotorPair.steer|param|unit": "the meaning of the value",
-  "motors.SynchedMotorPair.steer|param|value": "the move quantity, eg: 2",
+  "motors.SynchedMotorPair.steer|param|turnRatio": "the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0",
+  "motors.SynchedMotorPair.steer|param|unit": "(optional) unit of the value",
+  "motors.SynchedMotorPair.steer|param|value": "(optional) move duration or rotation",
  "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|speedLeft": "the speed on the left motor, eg: 50",
  "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.tank|param|unit": "(optional) unit of the value",
+  "motors.SynchedMotorPair.tank|param|value": "(optional) move duration or rotation",
  "motors.SynchedMotorPair.toString": "Returns the name(s) of the motor",
  "motors.mkCmd": "Allocates a message buffer",
  "motors.mkCmd|param|addSize": "required additional bytes",
--- a/libs/core/_locales/core-strings.json
+++ b/libs/core/_locales/core-strings.json
@ -1,20 +1,21 @@
 {
+  "BrickLight.GreenFlash|block": "green flash",
+  "BrickLight.GreenPulse|block": "green pulse",
+  "BrickLight.Green|block": "green",
+  "BrickLight.Off|block": "off",
+  "BrickLight.OrangeFlash|block": "orange flash",
+  "BrickLight.OrangePulse|block": "orange pulse",
+  "BrickLight.Orange|block": "orange",
+  "BrickLight.RedFlash|block": "red flash",
+  "BrickLight.RedPulse|block": "red pulse",
+  "BrickLight.Red|block": "red",
  "ButtonEvent.Click|block": "click",
  "ButtonEvent.Down|block": "down",
  "ButtonEvent.Up|block": "up",
-  "LightsPattern.GreenFlash|block": "Flashing Green",
-  "LightsPattern.GreenPulse|block": "Pulsing Green",
-  "LightsPattern.Green|block": "Green",
-  "LightsPattern.Off|block": "Off",
-  "LightsPattern.OrangeFlash|block": "Flashing Orange",
-  "LightsPattern.OrangePulse|block": "Pulsing Orange",
-  "LightsPattern.Orange|block": "Orange",
-  "LightsPattern.RedFlash|block": "Flashing Red",
-  "LightsPattern.RedPulse|block": "Pulsing Red",
-  "LightsPattern.Red|block": "Red",
  "MoveUnit.Degrees|block": "degrees",
  "MoveUnit.MilliSeconds|block": "milliseconds",
  "MoveUnit.Rotations|block": "rotations",
+  "MoveUnit.Seconds|block": "seconds",
  "Output.AB|block": "A+B",
  "Output.AD|block": "A+D",
  "Output.ALL|block": "All",
@ -28,19 +29,19 @@
  "brick.Button.onEvent|block": "on %button|%event",
  "brick.Button.pauseUntil|block": "pause until %button|%event",
  "brick.Button.wasPressed|block": "%button|was pressed",
-  "brick._imagePicker|block": "%image",
-  "brick.buttonDown|block": "down",
-  "brick.buttonEnter|block": "enter",
-  "brick.buttonLeft|block": "left",
-  "brick.buttonRight|block": "right",
-  "brick.buttonUp|block": "up",
+  "brick.batteryLevel|block": "battery level",
+  "brick.buttonDown|block": "button down",
+  "brick.buttonEnter|block": "button enter",
+  "brick.buttonLeft|block": "button left",
+  "brick.buttonRight|block": "button right",
+  "brick.buttonUp|block": "button up",
  "brick.clearScreen|block": "clear screen",
-  "brick.lightPattern|block": "%pattern",
  "brick.printPorts|block": "print ports",
-  "brick.print|block": "print %text| at x: %x| y: %y",
-  "brick.setLight|block": "set light to %pattern=led_pattern",
-  "brick.setPixel|block": "set pixel %on| at x: %x| y: %y",
+  "brick.setLight|block": "set light to %pattern",
  "brick.showImage|block": "show image %image=screen_image_picker",
+  "brick.showNumber|block": "show number %name|at line %line",
+  "brick.showString|block": "show string %text|at line %line",
+  "brick.showValue|block": "show value %name|= %text|at line %line",
  "brick|block": "brick",
  "console.logValue|block": "console|log value %name|= %value",
  "console.log|block": "console|log %text",
@ -49,14 +50,18 @@
  "control.raiseEvent|block": "raise event|from %src|with value %value",
  "control|block": "control",
  "motors.Motor.angle|block": "%motor|angle",
+  "motors.Motor.clearCounts|block": "%motor|clear counts",
+  "motors.Motor.setRegulated|block": "set %motor|regulated %value",
  "motors.Motor.speed|block": "%motor|speed",
-  "motors.MotorBase.move|block": "move %motor|for %value|%unit|at %speed|%",
+  "motors.Motor.tacho|block": "%motor|tacho",
  "motors.MotorBase.pauseUntilReady|block": "%motor|pause until ready",
+  "motors.MotorBase.reset|block": "%motors|reset",
  "motors.MotorBase.setBrake|block": "set %motor|brake %brake",
  "motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
-  "motors.MotorBase.setSpeed|block": "set speed of %motor|to %speed|%",
-  "motors.SynchedMotorPair.steer|block": "steer %chassis|%steering|%|at speed %speed|%|by %value|%unit",
-  "motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit",
+  "motors.MotorBase.setSpeed|block": "set %motor|speed to %speed=motorSpeedPicker|%",
+  "motors.MotorBase.stop|block": "%motors|stop",
+  "motors.SynchedMotorPair.steer|block": "steer %chassis|turn ratio %turnRatio=motorTurnRatioPicker|speed %speed=motorSpeedPicker|%",
+  "motors.SynchedMotorPair.tank|block": "tank %motors|%speedLeft=motorSpeedPicker|%|%speedRight=motorSpeedPicker|%",
  "motors.largeAB|block": "large A+B",
  "motors.largeAD|block": "large A+D",
  "motors.largeA|block": "large A",
@ -86,9 +91,9 @@
  "{id:category}Screen": "Screen",
  "{id:category}Serial": "Serial",
  "{id:group}Buttons": "Buttons",
-  "{id:group}Chassis": "Chassis",
-  "{id:group}Light": "Light",
-  "{id:group}Motion": "Motion",
+  "{id:group}Counters": "Counters",
+  "{id:group}More": "More",
+  "{id:group}Move": "Move",
  "{id:group}Screen": "Screen",
  "{id:group}Sensors": "Sensors"
 }
--- a/libs/core/battery.ts
+++ b/libs/core/battery.ts
@ -0,0 +1,12 @@
+
+namespace brick {
+    /**
+     * Returns the current battery level
+     */
+    //% blockId=brickBatteryLevel block="battery level"
+    //% group="More"
+    export function batteryLevel(): number {
+        const info = sensors.internal.getBatteryInfo();
+        return info.current;
+    }
+}
--- a/libs/core/buttons.ts
+++ b/libs/core/buttons.ts
@ -2,35 +2,35 @@
 /**
 * Patterns for lights under the buttons.
 */
-const enum LightsPattern {
-    //% block=Off enumval=0
+const enum BrickLight {
+    //% block=off enumval=0
    //% blockIdentity=brick.lightPattern
    Off = 0,
-    //% block=Green enumval=1
+    //% block=green enumval=1
    //% blockIdentity=brick.lightPattern
    Green = 1,
-    //% block=Red enumval=2
+    //% block=red enumval=2
    //% blockIdentity=brick.lightPattern
    Red = 2,
-    //% block=Orange enumval=3
+    //% block=orange enumval=3
    //% blockIdentity=brick.lightPattern
    Orange = 3,
-    //% block="Flashing Green" enumval=4
+    //% block="green flash" enumval=4
    //% blockIdentity=brick.lightPattern
    GreenFlash = 4,
-    //% block="Flashing Red" enumval=5
+    //% block="red flash" enumval=5
    //% blockIdentity=brick.lightPattern
    RedFlash = 5,
-    //% block="Flashing Orange" enumval=6
+    //% block="orange flash" enumval=6
    //% blockIdentity=brick.lightPattern
    OrangeFlash = 6,
-    //% block="Pulsing Green" enumval=7
+    //% block="green pulse" enumval=7
    //% blockIdentity=brick.lightPattern
    GreenPulse = 7,
-    //% block="Pulsing Red" enumval=8
+    //% block="red pulse" enumval=8
    //% blockIdentity=brick.lightPattern
    RedPulse = 8,
-    //% block="Pulsing Orange" enumval=9
+    //% block="orange pulse" enumval=9
    //% blockIdentity=brick.lightPattern
    OrangePulse = 9,
 }
@ -66,6 +66,7 @@ namespace brick {

        //% hidden
        _update(curr: boolean) {
+            if (this == null) return
            if (this._isPressed == curr) return
            this._isPressed = curr
            if (curr) {
@ -91,6 +92,7 @@ namespace brick {
        //% blockNamespace=brick
        //% weight=81 blockGap=8
        //% group="Buttons"
+        //% button.fieldEditor="brickbuttons"
        isPressed() {
            return this._isPressed
        }
@ -104,8 +106,9 @@ namespace brick {
        //% blockId=buttonWasPressed
        //% parts="brick"
        //% blockNamespace=brick
-        //% weight=80 blockGap=8
+        //% weight=80
        //% group="Buttons"
+        //% button.fieldEditor="brickbuttons"
        wasPressed() {
            const r = this._wasPressed
            this._wasPressed = false
@ -124,6 +127,7 @@ namespace brick {
        //% blockNamespace=brick
        //% weight=99 blockGap=8
        //% group="Buttons"
+        //% button.fieldEditor="brickbuttons"
        onEvent(ev: ButtonEvent, body: () => void) {
            control.onEvent(this._id, ev, body)
        }
@ -138,6 +142,7 @@ namespace brick {
        //% blockNamespace=brick
        //% weight=98 blockGap=8
        //% group="Buttons"
+        //% button.fieldEditor="brickbuttons"
        pauseUntil(ev: ButtonEvent) {
            control.waitForEvent(this._id, ev);
        }
@ -162,6 +167,12 @@ namespace brick {
            if (sl[i])
                ret |= 1 << i
        }
+        // this needs to be done in query(), which is run without the main JS execution mutex
+        // otherwise, while(true){} will lock the device
+        if (ret & DAL.BUTTON_ID_ESCAPE) {
+            motors.stopAllMotors(); // ensuring that all motors are off
+            control.reset()
+        }
        return ret
    }

@ -171,8 +182,6 @@ namespace brick {
        if (!btnsMM) control.fail("no buttons?")
        buttons = []
        sensors.internal.unsafePollForChanges(50, readButtons, (prev, curr) => {
-            if (curr & DAL.BUTTON_ID_ESCAPE)
-                control.reset()
            for (let b of buttons)
                b._update(!!(curr & b.mask))
        })
@ -187,7 +196,7 @@ namespace brick {
            initBtns()
            buttons.push(this)
        }
-    }
+    }    

    initBtns() // always ON as it handles ESCAPE button

@ -195,31 +204,31 @@ namespace brick {
    /**
     * Enter button on the EV3 Brick.
     */
-    //% whenUsed block="enter" weight=95 fixedInstance
+    //% whenUsed block="button enter" weight=95 fixedInstance
    export const buttonEnter: Button = new DevButton(DAL.BUTTON_ID_ENTER)

    /**
     * Left button on the EV3 Brick.
     */
-    //% whenUsed block="left" weight=95 fixedInstance
+    //% whenUsed block="button left" weight=95 fixedInstance
    export const buttonLeft: Button = new DevButton(DAL.BUTTON_ID_LEFT)

    /**
     * Right button on the EV3 Brick.
     */
-    //% whenUsed block="right" weight=94 fixedInstance
+    //% whenUsed block="button right" weight=94 fixedInstance
    export const buttonRight: Button = new DevButton(DAL.BUTTON_ID_RIGHT)

    /**
     * Up button on the EV3 Brick.
     */
-    //% whenUsed block="up" weight=95 fixedInstance
+    //% whenUsed block="button up" weight=95 fixedInstance
    export const buttonUp: Button = new DevButton(DAL.BUTTON_ID_UP)

    /**
     * Down button on the EV3 Brick.
     */
-    //% whenUsed block="down" weight=95 fixedInstance
+    //% whenUsed block="button down" weight=95 fixedInstance
    export const buttonDown: Button = new DevButton(DAL.BUTTON_ID_DOWN)
 }

@ -228,6 +237,7 @@ namespace control {
    /**
     * Determine the version of system software currently running.
     */
+    //%
    export function deviceFirmwareVersion(): string {
        let buf = output.createBuffer(6)
        brick.internal.getBtnsMM().read(buf)
@ -242,32 +252,21 @@ namespace control {
 }

 namespace brick {
-    let currPattern: LightsPattern
+    // the brick starts with the red color
+    let currPattern: BrickLight = BrickLight.Red;

    /**
     * Set lights.
-     * @param pattern the lights pattern to use.
+     * @param pattern the lights pattern to use. eg: BrickLight.Orange
     */
-    //% blockId=setLights block="set light to %pattern=led_pattern"
+    //% blockId=setLights block="set light to %pattern"
    //% weight=100 group="Buttons"
-    export function setLight(pattern: number): void {
+    export function setLight(pattern: BrickLight): void {
        if (currPattern === pattern)
            return
-        currPattern = pattern
-        let cmd = output.createBuffer(2)
+        currPattern = pattern;
+        const cmd = output.createBuffer(2)
        cmd[0] = pattern + 48
        brick.internal.getBtnsMM().write(cmd)
    }
-
-
-    /**
-     * Pattern block.
-     * @param pattern the lights pattern to use. eg: LightsPattern.Green
-     */
-    //% blockId=led_pattern block="%pattern"
-    //% shim=TD_ID colorSecondary="#6e9a36" group="Light"
-    //% blockHidden=true useEnumVal=1 pattern.fieldOptions.decompileLiterals=1
-    export function lightPattern(pattern: LightsPattern): number {
-        return pattern;
-    }
 }
--- a/libs/core/console.ts
+++ b/libs/core/console.ts
@ -3,7 +3,7 @@
 /**
 * Reading and writing data to the console output.
 */
-//% weight=12 color=#002050 icon="\uf120"
+//% weight=12 color=#00451A icon="\uf112"
 //% advanced=true
 namespace console {
    type Listener = (text: string) => void;
--- a/libs/core/enums.d.ts
+++ b/libs/core/enums.d.ts
@ -1,6 +1,17 @@
 // Auto-generated. Do not edit.


+    /**
+     * Mode for lseek()
+     */
+
+    declare const enum SeekWhence {
+    Set = 0,
+    Current = 1,
+    End = 2,
+    }
+
+
    /**
     * Drawing modes
     */
--- a/libs/core/images.jres
+++ b/libs/core/images.jres
@ -114,23 +114,7 @@
    "progressWaterLevel3": "iVBORw0KGgoAAAANSUhEUgAAALIAAACAAQAAAACHQw5jAAABP0lEQVR42u2VMWrEMBBFRxGsGrNqXYT4CltuFV9lj5EqVlhImyPkKoKFbJcrrHKCKJ2XKFb+BGxsGBdbBRJ/mGHm+VtjJGNT/srQO6cG8cnFKXvKLVdHRFcjfXD3xDyybY9IFVJgbpgHtilEa5E8XJ1m/gJbVwJFXuwRrqSYa9hSCZt/A1/B1VLjqdMG1mu0bgeD4W5Te2r1A6YVJne0qfNP57fWU9AY5dYKd29tDgodldoTqagjGaoc3VAiiibQmlg1ApeIQIjuufDUq+C0Q1z1xaJFi/60iluZ28aJ3Jy9yPU5iFxlmesZvsry+kUz8/z/5qTuZKyizM2F3IYZfnDyuR7kc61fL+P4qYmq0mCZ+tuhfHZjPvhV8iKnMVejuZNXrjnK3O77aeo03hEzNGqyUcbNnJdfPjqLFv2+vgH+JtBJ4nz/SAAAAABJRU5ErkJggg==",
    "systemAccept1": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAAQElEQVR42mM4wMDMsP//X4b6//+AWI6h/p8dQ/2fOob6H/8YKj/+Y6h4/I+hxvkfQx07UJ4fiOf/A6sF6QHqBQDsYh9jNdETHwAAAABJRU5ErkJggg==",
    "systemAccept2": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAAQUlEQVR42mM4wMDMsP//X4YEBjYGB4ZHDA6MhxgcmJsYHNiZGNz4mBjcZZgYnPcwMTj+YGJw+ADECUxgtSA9QL0A+IIPxwiZFtwAAAAASUVORK5CYII=",
-    "systemAlert": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAVAQAAAAB0khOLAAAARUlEQVR42iXD0QmAIAAE0IvWCtqmMbLG8MtVhAZwjBvALyE85XzwoE/QO8f5WPsd0K+An6c3Jq8sThIUUVg9qfmDDRn7AD/WMAQEJ+pCAAAAAElFTkSuQmCC",
    "systemBox": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAAGklEQVR42mM4wMDMsP//X4b6//9IwiA9QL0AlQYkzY8nCoAAAAAASUVORK5CYII=",
-    "systemBusy0": "iVBORw0KGgoAAAANSUhEUgAAABMAAAAPAQAAAAAuP8mBAAAAMElEQVR42mPY/38Bg/x/BgbnHw4Msd8dGKLeA+k4IL0XSGdB6TioOFAepA6kHqgPAJCPFdTsOCPGAAAAAElFTkSuQmCC",
-    "systemBusy1": "iVBORw0KGgoAAAANSUhEUgAAAA8AAAATAQAAAABnuWoHAAAAOUlEQVR42mNoYGKw/8EAJO9/A6GrYQyv1jF8jWP4tY/hbx3D730M3+4xvH/HcO8bw90yhlvbGGDqAdjhGYsKgwC5AAAAAElFTkSuQmCC",
    "systemDecline1": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAANUlEQVR42mM4wMDMsP//X4b6//8Y6urtGOrt6hjq5/xjqD8JxI+hGMQGiQHlwGqAakF6gHoBybUeX0RcSJEAAAAASUVORK5CYII=",
-    "systemDecline2": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAANUlEQVR42mM4wMDMsP//X4YEBjYGx4ZDDA4HmxgckpkYHMyAWAaKQWyQGFAOpAakFqQHqBcAGz4QyzSHE/gAAAAASUVORK5CYII=",
-    "systemDotEmpty": "iVBORw0KGgoAAAANSUhEUgAAAB8AAAAfAQAAAAA31SuUAAAAYklEQVR42oWOMQ5AQBRE5yZ7FEfSKTmC25CQuILehkahkc12IvgjRqHUTPX/ew+MzsByNlhxGq7ochz90mFL9gmBFjCSGTxZoSUb1OTwTkquP/Md61cU8USWQzZ5VaCWp+oGeLZn9EklJaAAAAAASUVORK5CYII=",
-    "systemDotFull": "iVBORw0KGgoAAAANSUhEUgAAAB8AAAAfAQAAAAA31SuUAAAAX0lEQVR42mP4/0H+H8P//sf/GP7V//nH8PeDfB3D7wPs+xi+MzDeY3jHAER3GBjKGG4wMJgx7GBgsGLYwMAgBSESGBh4CBAIxWC9YFPA5oFNBtsBtg1sL9gFYLeAXAUAPIwyHWLMTS8AAAAASUVORK5CYII=",
-    "systemEv3small": "iVBORw0KGgoAAAANSUhEUgAAACsAAAANAQAAAAAY06pGAAAAPUlEQVR42mNg4LFvYwACFEr+n32fPYiS5/8P5PLLyz8AUXwQqs8eSMn/b7H/D6IO1NmDBA/UgbTzP/gHpwBcwBWO2QYBDwAAAABJRU5ErkJggg==",
-    "systemPlay": "iVBORw0KGgoAAAANSUhEUgAAABAAAAAQAQAAAAA3iMLMAAAAMElEQVR42mP4Y8/wsZ/h+XOG858Z5v5k2POXwcaGoUYOhIAMIBcoCJQCKgAq+2MPAAFKFVmziLfGAAAAAElFTkSuQmCC",
-    "systemSlider0": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAEklEQVR42mM4YMBwfwPV0AEDAHmKKNims3dJAAAAAElFTkSuQmCC",
-    "systemSlider1": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAGklEQVR42mM4YMBwfwNFCAKuGjCc2sBwwAAAT7olG9TpXdAAAAAASUVORK5CYII=",
-    "systemSlider2": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwM5CAJObWC4aoAgDxgAACpUJGftPg+WAAAAAElFTkSuQmCC",
-    "systemSlider3": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwMJCAKuGjCc2oCFPGAAAPSIIz417p4OAAAAAElFTkSuQmCC",
-    "systemSlider4": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwNhBAGnNjBcNcBHHjAAAMJ6IooqNLP/AAAAAElFTkSuQmCC",
-    "systemSlider5": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwNOBAFXDRhObSCKPGAAAHfbIWHuFKlNAAAAAElFTkSuQmCC",
-    "systemSlider6": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwM6goBTGxiuGpBGHjAAADklIK1PooVQAAAAAElFTkSuQmCC",
-    "systemSlider7": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwMUQcBVA4ZTG8gkDxgAANmVH4SOiUHMAAAAAElFTkSuQmCC",
-    "systemSlider8": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAFElEQVR42mM4YMBwagPDVSqRBwwASoohT92wVBIAAAAASUVORK5CYII="
+    "systemDecline2": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAANUlEQVR42mM4wMDMsP//X4YEBjYGx4ZDDA4HmxgckpkYHMyAWAaKQWyQGFAOpAakFqQHqBcAGz4QyzSHE/gAAAAASUVORK5CYII="
 }
--- a/libs/core/images.ts
+++ b/libs/core/images.ts
@ -1,260 +1,229 @@
 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
-    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
-    export const systemBusy0 = screen.unpackPNG(hex``);
-    //% 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
-    export const systemDotEmpty = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemDotFull = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemEv3small = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemPlay = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemSlider0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemSlider1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemSlider2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemSlider3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemSlider4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemSlider5 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemSlider6 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemSlider7 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick._imagePicker
-    export const systemSlider8 = screen.unpackPNG(hex``);
+    //% fixedInstance jres blockIdentity=brick.__imagePicker
 }
--- a/libs/core/input.ts
+++ b/libs/core/input.ts
@ -89,6 +89,14 @@ namespace sensors.internal {
        //serial.writeLine("UART " + port + " / " + mode + " - " + info)
    }

+    export function getBatteryInfo(): { temp: number; current: number } {
+        init();
+        return {
+            temp: analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryTemp),
+            current: Math.round(analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryCurrent) / 10)
+        }
+    }
+
    function detectDevices() {
        let conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
        let numChanged = 0
@ -214,6 +222,7 @@ namespace sensors.internal {
        }

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

            if (this.level >= this.highThreshold) {
@ -300,6 +309,10 @@ namespace sensors.internal {
                return 0
            return getUartNumber(fmt, off, this._port)
        }
+
+        reset() {
+            if (this.isActive()) uartReset(this._port);
+        }
    }

    function uartReset(port: number) {
--- a/libs/core/linux.cpp
+++ b/libs/core/linux.cpp
@ -483,7 +483,15 @@ void runLMS() {
    */
 }

+void stopMotors() {
+    uint8_t cmd[2] = { 0xA3, 0x0F };
+    int fd = open("/dev/lms_pwm", O_RDWR);
+    write(fd, cmd, 2);
+    close(fd);
+}
+
 extern "C" void target_reset() {
+    stopMotors();
    if (lmsPid)
        runLMS();
    else
--- a/libs/core/mmap.cpp
+++ b/libs/core/mmap.cpp
@ -7,6 +7,16 @@
 #include <fcntl.h>
 #include <sys/ioctl.h>

+/**
+* Mode for lseek()
+*/
+enum class SeekWhence {
+    Set = 0,
+    Current = 1,
+    End = 2,
+};
+
+
 namespace pxt {
 PXT_VTABLE_CTOR(MMap) {
    length = 0;
@ -111,4 +121,10 @@ int read(MMap *mmap, Buffer data) {
    return ::read(mmap->fd, data->data, data->length);
 }

+/** Set pointer on the underlaying file. */
+//%
+int lseek(MMap *mmap, int offset, SeekWhence whence) {
+    return ::lseek(mmap->fd, offset, (int)whence);
+}
+
 }
--- a/libs/core/ns.ts
+++ b/libs/core/ns.ts
@ -1 +1,25 @@

+namespace motors {
+
+    /**
+     * A speed picker
+     * @param speed the speed, eg: 50
+     */
+    //% blockId=motorSpeedPicker block="%speed" shim=TD_ID
+    //% speed.fieldEditor="speed" colorSecondary="#FFFFFF"
+    //% weight=0 blockHidden=1 speed.fieldOptions.decompileLiterals=1
+    export function __speedPicker(speed: number): number {
+        return speed;
+    }
+
+    /**
+     * A turn ratio picker
+     * @param turnratio the turn ratio, eg: 0
+     */
+    //% blockId=motorTurnRatioPicker block="%turnratio" shim=TD_ID
+    //% turnratio.fieldEditor="turnratio" colorSecondary="#FFFFFF"
+    //% weight=0 blockHidden=1 turnRatio.fieldOptions.decompileLiterals=1
+    export function __turnRatioPicker(turnratio: number): number {
+        return turnratio;
+    }
+}
--- 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
 }
@ -30,6 +30,8 @@ enum MoveUnit {
    Rotations,
    //% block="degrees"
    Degrees,
+    //% block="seconds"
+    Seconds,
    //% block="milliseconds"
    MilliSeconds
 }
@ -94,7 +96,7 @@ namespace motors {
        return b
    }

-    function outputToName(out: Output): string {
+    export function outputToName(out: Output): string {
        let r = "";
        for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
            if (out & (1 << i)) {
@ -109,8 +111,8 @@ namespace motors {
     * Stops all motors
     */
    //% blockId=motorStopAll block="stop all motors"
-    //% weight=97
-    //% group="Motion"
+    //% weight=1
+    //% group="Move"
    export function stopAllMotors() {
        const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
        writePWM(b)
@ -119,7 +121,7 @@ namespace motors {
    /**
     * Resets all motors
     */
-    //% group="Motion"
+    //% group="Move"
    export function resetAllMotors() {
        reset(Output.ALL)
    }
@ -162,7 +164,7 @@ namespace motors {
        //% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake"
        //% brake.fieldEditor=toggleonoff
        //% weight=60 blockGap=8
-        //% group="Motion"
+        //% group="Move"
        setBrake(brake: boolean) {
            this.init();
            this._brake = brake;
@ -173,8 +175,8 @@ namespace motors {
        */
        //% blockId=motorSetReversed block="set %motor|reversed %reversed"
        //% reversed.fieldEditor=toggleonoff
-        //% weight=59
-        //% group="Motion"
+        //% weight=59 blockGap=8
+        //% group="Move"
        setReversed(reversed: boolean) {
            this.init();
            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
@ -185,7 +187,9 @@ namespace motors {
        /**
         * Stops the motor(s).
         */
-        //%
+        //% weight=6 blockGap=8
+        //% group="Move"
+        //% blockId=motorStop block="%motors|stop"
        stop() {
            this.init();
            stop(this._port, this._brake);
@ -194,47 +198,37 @@ namespace motors {
        /**
         * Resets the motor(s).
         */
-        //%
+        //% weight=5
+        //% group="Move"
+        //% blockId=motorReset block="%motors|reset"
        reset() {
            this.init();
            reset(this._port);
        }

        /**
-         * Sets the speed of the motor.
+         * Sets the motor speed for limited time or distance.
         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
+         * @param value (optional) measured distance or rotation
+         * @param unit (optional) unit of the value
         */
-        //% blockId=motorSetSpeed block="set speed of %motor|to %speed|%"
-        //% on.fieldEditor=toggleonoff
-        //% weight=99 blockGap=8
-        //% speed.min=-100 speed.max=100
-        //% group="Motion"
-        setSpeed(speed: number) {
-            this.init();
-            speed = Math.clamp(-100, 100, speed >> 0);
-            if (!speed) // always stop
-                this.stop();
-            else
-                this._setSpeed(speed);
-        }
-
-        /**
-         * Moves the motor by a number of rotations, degress or seconds
-         * @param value the move quantity, eg: 2
-         * @param unit the meaning of the value
-         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
-         */
-        //% blockId=motorMove block="move %motor|for %value|%unit|at %speed|%"
-        //% weight=98 blockGap=8
-        //% speed.min=-100 speed.max=100    
-        //% group="Motion"
-        move(value: number, unit: MoveUnit, speed: number) {
+        //% blockId=motorSetSpeed block="set %motor|speed to %speed=motorSpeedPicker|%"
+        //% weight=100 blockGap=8
+        //% group="Move"
+        setSpeed(speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
            this.init();
            speed = Math.clamp(-100, 100, speed >> 0);
+            // stop if speed is 0
            if (!speed) {
                this.stop();
                return;
            }
+            // special: 0 is infinity
+            if (value == 0) {
+                this._setSpeed(speed);
+                return;
+            }
+            // timed motor moves
            let useSteps: boolean;
            let stepsOrTime: number;
            switch (unit) {
@ -246,6 +240,10 @@ namespace motors {
                    stepsOrTime = value >> 0;
                    useSteps = true;
                    break;
+                case MoveUnit.Seconds:
+                    stepsOrTime = (value * 1000) >> 0;
+                    useSteps = false;
+                    break;
                default:
                    stepsOrTime = value;
                    useSteps = false;
@ -253,24 +251,20 @@ namespace motors {
            }

            this._move(useSteps, stepsOrTime, speed);
+            // wait till motor is done with this work
+            this.pauseUntilReady();
        }

        /**
         * 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;
+            return (~flags & this._port) == this._port;
        }

        /**
@ -278,7 +272,8 @@ namespace motors {
         * @param timeOut optional maximum pausing time in milliseconds
         */
        //% blockId=motorPauseUntilRead block="%motor|pause until ready"
-        //% group="Motion"
+        //% weight=90
+        //% group="Move"
        pauseUntilReady(timeOut?: number) {
            pauseUntil(() => this.isReady(), timeOut);
        }
@ -287,10 +282,12 @@ namespace motors {
    //% fixedInstances
    export class Motor extends MotorBase {
        private _large: boolean;
+        private _regulated: 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._regulated = true;
            this.markUsed();
        }

@ -306,7 +303,7 @@ namespace motors {
        }

        private __setSpeed(speed: number) {
-            const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
+            const b = mkCmd(this._port, this._regulated ? DAL.opOutputPower : DAL.opOutputSpeed, 1)
            b.setNumber(NumberFormat.Int8LE, 2, speed)
            writePWM(b)
            if (speed) {
@ -320,40 +317,72 @@ namespace motors {
                step1: 0,
                step2: stepsOrTime,
                step3: 0,
-                speed: speed,
+                speed: this._regulated ? speed : undefined,
+                power: this._regulated ? undefined : speed,
                useBrake: this._brake
            })
        }

+        /**
+         * Indicates if the motor speed should be regulated. Default is true.
+         * @param value true for regulated motor
+         */
+        //% blockId=outputMotorSetRegulated block="set %motor|regulated %value"
+        //% value.fieldEditor=toggleonoff
+        //% weight=58
+        //% group="Move"
+        setRegulated(value: boolean) {
+            this._regulated = value;
+        }
+
        /**
         * Gets motor actual speed.
         * @param motor the port which connects to the motor
         */
        //% blockId=motorSpeed block="%motor|speed"
-        //% weight=72 blockGap=8
-        //% group="Sensors"
+        //% weight=72 
+        //% blockGap=8
+        //% group="Counters"
        speed(): number {
            this.init();
            return getMotorData(this._port).actualSpeed;
        }

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

+
+        /**
+         * Gets motor tachometer count.
+         * @param motor the port which connects to the motor
+         */
+        //% blockId=motorTachoCount block="%motor|tacho"
+        //% weight=69
+        //% blockGap=8
+        //% group="Counters"
+        tacho(): number {
+            this.init();
+            return getMotorData(this._port).tachoCount;
+        }
+
        /**
         * Clears the motor count
         */
-        //% group="Motion"
-        clearCount() {
+        //% blockId=motorClearCount block="%motor|clear counts"
+        //% weight=68
+        //% blockGap=8
+        //% group="Counters"
+        clearCounts() {
            this.init();
            const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
            writePWM(b)
@ -422,7 +451,7 @@ namespace motors {
        private __setSpeed(speed: number) {
            syncMotors(this._port, {
                speed: speed,
-                turnRatio: 0,
+                turnRatio: 0, // same speed
                useBrake: !!this._brake
            })
        }
@ -431,25 +460,54 @@ namespace motors {
            syncMotors(this._port, {
                useSteps: steps,
                speed: speed,
-                turnRatio: 100, // same speed
+                turnRatio: 0, // same speed
                stepsOrTime: stepsOrTime,
                useBrake: this._brake
            });
        }

        /**
-         * Turns the motor and the follower motor by a number of rotations
-         * @param value the move quantity, eg: 2
-         * @param unit the meaning of the value
-         * @param steering the ratio of power sent to the follower motor, from ``-100`` to ``100``
-         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
+         * The Move Tank block can make a robot drive forward, backward, turn, or stop. 
+         * Use the Move Tank block for robot vehicles that have two Large Motors, 
+         * with one motor driving the left side of the vehicle and the other the right side. 
+         * You can make the two motors go at different speeds or in different directions 
+         * to make your robot turn.
+         * @param speedLeft the speed on the left motor, eg: 50
+         * @param speedRight the speed on the right motor, eg: 50
+         * @param value (optional) move duration or rotation
+         * @param unit (optional) unit of the value
         */
-        //% blockId=motorPairTurn block="steer %chassis|%steering|%|at speed %speed|%|by %value|%unit"
-        //% weight=9 blockGap=8
-        //% steering.min=-100 steering=100
+        //% blockId=motorPairTank block="tank %motors|%speedLeft=motorSpeedPicker|%|%speedRight=motorSpeedPicker|%"
+        //% weight=96 blockGap=8
        //% inlineInputMode=inline
-        //% group="Chassis"
-        steer(steering: number, speed: number, value: number, unit: MoveUnit) {
+        //% group="Move"
+        tank(speedLeft: number, speedRight: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
+            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);
+        }
+
+        /**
+         * 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 (optional) move duration or rotation
+         * @param unit (optional) unit of the value
+         */
+        //% blockId=motorPairSteer block="steer %chassis|turn ratio %turnRatio=motorTurnRatioPicker|speed %speed=motorSpeedPicker|%"
+        //% weight=95
+        //% turnRatio.min=-200 turnRatio=200
+        //% inlineInputMode=inline
+        //% group="Move"
+        steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
            this.init();
            speed = Math.clamp(-100, 100, speed >> 0);
            if (!speed) {
@ -457,7 +515,7 @@ namespace motors {
                return;
            }

-            const turnRatio = Math.clamp(-200, 200, steering + 100 >> 0);
+            turnRatio = Math.clamp(-200, 200, turnRatio >> 0);
            let useSteps: boolean;
            let stepsOrTime: number;
            switch (unit) {
@ -469,8 +527,12 @@ namespace motors {
                    stepsOrTime = value >> 0;
                    useSteps = true;
                    break;
+                case MoveUnit.Seconds:
+                    stepsOrTime = (value * 1000) >> 0;
+                    useSteps = false;
+                    break;
                default:
-                    stepsOrTime = value;
+                    stepsOrTime = value >> 0;
                    useSteps = false;
                    break;
            }
@ -484,35 +546,13 @@ namespace motors {
            });
        }

-        /**
-         * The Move Tank block can make a robot drive forward, backward, turn, or stop. 
-         * Use the Move Tank block for robot vehicles that have two Large Motors, 
-         * with one motor driving the left side of the vehicle and the other the right side. 
-         * You can make the two motors go at different speeds or in different directions 
-         * to make your robot turn.
-         * @param value the amount of movement, eg: 2
-         * @param unit 
-         * @param speedLeft the speed on the left motor, eg: 50
-         * @param speedRight the speed on the right motor, eg: 50
-         */
-        //% blockId=motorPairTank block="tank %chassis|left %speedLeft|%|right %speedRight|%|by %value|%unit"
-        //% weight=9 blockGap=8
-        //% speedLeft.min=-100 speedLeft=100
-        //% speedRight.min=-100 speedRight=100
-        //% inlineInputMode=inline
-        //% group="Chassis"
-        tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
-            speedLeft = Math.clamp(speedLeft >> 0, -100, 100);
-            speedRight = Math.clamp(speedRight >> 0, -100, 100);
-            const steering = (speedRight * 100 / speedLeft) >> 0;
-            this.steer(speedLeft, steering, value, unit);
-        }
-
        /**
         * Returns the name(s) of the motor
         */
        //%
        toString(): string {
+            this.init();
+
            let r = outputToName(this._port);
            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
                if (this._port & (1 << i)) {
--- a/Show More
+++ b/Show More
				`@ -0,0 +1 @@`
				<svg xmlns="http://www.w3.org/2000/svg" width="301.499" height="179.742" viewBox="0 0 282.655 168.508"><g transform="translate(-41.005 -446.364)"><rect ry="30" rx="30" y="458.77" x="53.41" height="143.698" width="105.312" stroke="#000" stroke-width="17.724" stroke-linecap="round" stroke-linejoin="round"/><rect width="105.668" height="144.183" x="53.232" y="458.527" rx="30.101" ry="30.101" fill="#fff"/></g><g transform="translate(111.528 -446.364)"><rect width="105.312" height="143.698" x="53.41" y="458.77" rx="30" ry="30" stroke="#000" stroke-width="17.724" stroke-linecap="round" stroke-linejoin="round"/><rect ry="30.101" rx="30.101" y="458.527" x="53.232" height="144.183" width="105.668" fill="#fff"/></g></svg>