0.0.55

* 3 activies from curriculum

* fixing style

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"

docs/coding.md

@@ -0,0 +1,170 @@
+# Coding Activites
+
+12 computer science activities, with cross-curricular opportunities in design and technology, science, and math.
+
+* [Download Curriculum Materials](https://education.lego.com/en-us/downloads/mindstorms-ev3)
+
+## Three Point Turn
+
+```codecard
+[
+{
+  "name": "Three Point Turn 1",
+  "description": "Activity 1",
+  "url":"/coding/three-point-turn-1",
+  "cardType": "example"
+}, {
+  "name": "Three Point Turn 2",
+  "description": "Activity 2",
+  "url":"/coding/three-point-turn-2",
+  "cardType": "example"
+}, {
+  "name": "Three Point Turn 3",
+  "description": "Activity 3",
+  "url":"/coding/three-point-turn-3",
+  "cardType": "example"
+}]
+```
+
+## Reversing the robot
+
+```codecard
+[{
+  "name": "Reversing the robot 1",
+  "description": "Activity 1",
+  "url":"/coding/reversing-the-robot-1",
+  "cardType": "example"
+}, {
+  "name": "Reversing the robot 2",
+  "description": "Activity 2",
+  "url":"/coding/reversing-the-robot-2",
+  "cardType": "example"
+}, {
+  "name": "Reversing the robot 3",
+  "description": "Activity 3",
+  "url":"/coding/reversing-the-robot-3",
+  "cardType": "example"
+}]
+```
+
+## Light the way
+
+```codecard
+[{
+  "name": "Light the way 1",
+  "description": "Activity 1",
+  "url":"/coding/light-the-way-1",
+  "cardType": "example"
+}, {
+  "name": "Light the way 2",
+  "description": "Activity 2",
+  "url":"/coding/light-the-way-2",
+  "cardType": "example"
+}, {
+  "name": "Light the way 3",
+  "description": "Activity 3",
+  "url":"/coding/light-the-way-3",
+  "cardType": "example"
+}    
+]
+```
+
+## Traffic Lights
+
+```codecard
+[{
+  "name": "Traffic Lights 1",
+  "description": "Activity 1",
+  "url":"/coding/traffic-lights-1",
+  "cardType": "example"
+}, {
+  "name": "Traffic Lights 2",
+  "description": "Activity 2",
+  "url":"/coding/traffic-lights-2",
+  "cardType": "example"
+}, {
+  "name": "Traffic Lights 3",
+  "description": "Activity 3",
+  "url":"/coding/traffic-lights-3",
+  "cardType": "example"
+}
+]
+```
+
+## Reverse Bepper
+
+```codecard
+[{
+  "name": "Reverse Beeper 1",
+  "description": "Activity 1",
+  "url":"/coding/reverse-beeper-1",
+  "cardType": "example"
+}, {
+  "name": "Reverse Beeper 2",
+  "description": "Activity 2",
+  "url":"/coding/reverse-beeper-2",
+  "cardType": "example"
+}, {
+  "name": "Reverse Beeper 3",
+  "description": "Activity 3",
+  "url":"/coding/reverse-beeper-3",
+  "cardType": "example"
+}]
+```
+
+## Ignition
+
+```codecard
+[{
+  "name": "Ignition 1",
+  "description": "Activity 1",
+  "url":"/coding/ingition-1",
+  "cardType": "example"
+}, {
+  "name": "Ignition 2",
+  "description": "Activity 2",
+  "url":"/coding/ignition-2",
+  "cardType": "example"
+}, {
+  "name": "Ignition 3",
+  "description": "Activity 3",
+  "url":"/coding/ignition-3",
+  "cardType": "example"
+}]
+```
+
+## Cruise Control
+
+```codecard
+[{
+  "name": "Cruise Control 1",
+  "description": "Activity 1",
+  "url":"/coding/cruise-control-1",
+  "cardType": "example"
+}, {
+  "name": "Cruise Control 2",
+  "description": "Activity 2",
+  "url":"/coding/cruise-control-2",
+  "cardType": "example"
+}, {
+  "name": "Cruise Control 3",
+  "description": "Activity 3",
+  "url":"/coding/cruise-control-3",
+  "cardType": "example"
+}]
+```
+
+## Roaming
+
+```codecard
+[{
+  "name": "Roaming 1",
+  "description": "Activity 1",
+  "url":"/coding/roaming-1",
+  "cardType": "example"
+}, {
+  "name": "Roaming 2",
+  "description": "Activity 2",
+  "url":"/coding/roaming-2",
+  "cardType": "example"
+}, {

docs/coding/cruise-control-1.md

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

docs/coding/cruise-control-2.md

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

docs/coding/cruise-control-3.md

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

docs/coding/ignition-1.md

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

docs/coding/ignition-2.md

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

docs/coding/ignition-3.md

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

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

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

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

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

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

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

docs/coding/reverse-beeper-1.md

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

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.stopAllMotors();
+```

docs/coding/reverse-beeper-3.md

@@ -0,0 +1,21 @@
+# Reverse Beeper Activity 2
+
+```blocks
+let beep = false
+beep = true
+control.runInBackground(function () {
+    motors.largeB.setSpeed(-20)
+    motors.largeC.setSpeed(-20)
+    sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear)
+    motors.stopAllMotors()
+    beep = false
+})
+control.runInBackground(function () {
+    while (beep) {
+        if (sensors.ultrasonic4.distance() < 20) {
+            music.playTone(440, sensors.ultrasonic4.distance())
+            loops.pause(50)
+        }
+    }
+})
+```

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

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

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

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

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

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

docs/coding/roaming-1.md

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

docs/coding/roaming-2.md

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

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

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

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

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

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

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

docs/coding/traffic-lights-1.md

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

docs/coding/traffic-lights-2.md

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

docs/coding/traffic-lights-3.md

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

docs/static/fonts/icons/iconfont.css

@@ -1,8 +1,8 @@
 @font-face {
 	font-family: "iconfont";
-	src: url("iconfont.eot?6e1ef95090bc1e1acc3a7e6bb86172de?#iefix") format("embedded-opentype"),
-url("iconfont.woff2?6e1ef95090bc1e1acc3a7e6bb86172de") format("woff2"),
-url("iconfont.woff?6e1ef95090bc1e1acc3a7e6bb86172de") format("woff");
+	src: url("iconfont.eot?8b7e57577c2d1f1ae9e810b9e010bc84?#iefix") format("embedded-opentype"),
+url("iconfont.woff2?8b7e57577c2d1f1ae9e810b9e010bc84") format("woff2"),
+url("iconfont.woff?8b7e57577c2d1f1ae9e810b9e010bc84") format("woff");
 }
 
 .icon {
@@ -67,21 +67,27 @@ url("iconfont.woff?6e1ef95090bc1e1acc3a7e6bb86172de") format("woff");
 .icon-variables:before {
 	content: "\f111";
 }
-.icon-cancel:before {
+.icon-console:before {
 	content: "\f112";
 }
-.icon-check:before {
+.icon-advancedcollapsed:before {
 	content: "\f113";
 }
-.icon-download:before {
+.icon-advancedexpanded:before {
 	content: "\f114";
 }
-.icon-save:before {
+.icon-cancel:before {
 	content: "\f115";
 }
-.icon-advancedcollapsed:before {
+.icon-check:before {
 	content: "\f116";
 }
-.icon-advancedexpanded:before {
+.icon-download:before {
 	content: "\f117";
 }
+.icon-save:before {
+	content: "\f118";
+}
+.icon-blocks:before {
+	content: "\f119";
+}

docs/static/fonts/icons/iconfont.svg

@@ -21,7 +21,7 @@
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     <glyph glyph-name="addpackage"
       unicode="&#xF105;"
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+      horiz-adv-x="40" d=" M20 35.7C11.3 35.7 4.3 28.7 4.3 20S11.3 4.3 20 4.3S35.7 11.3 35.7 20S28.7 35.7 20 35.7zM30.4 18.3H21.7V9.6H18.3V18.3H9.6V21.7H18.3V30.4H21.7V21.7H30.4V18.3z" />
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       unicode="&#xF106;"
       horiz-adv-x="40" d=" M34.3 0.9H5.7V39.1H34.4V0.9zM10.4 32.7V18.4H29.6V32.7H10.4z" />
@@ -58,24 +58,30 @@
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       unicode="&#xF111;"
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-    <glyph glyph-name="cancel"
+    <glyph glyph-name="console"
       unicode="&#xF112;"
-      horiz-adv-x="40" d=" M4285.9 23284.1H4308.1V23280.4H4285.9V23284.1z M4285.9 23302.6H4289.6V23280.4H4285.9V23302.6z" />
-    <glyph glyph-name="check"
-      unicode="&#xF113;"
-      horiz-adv-x="40" d=" M4209.2 23456H4231.3V23452.3H4209.2V23456z M4201.2 23463.4H4204.9V23452.3H4201.2V23463.4z" />
-    <glyph glyph-name="download"
-      unicode="&#xF114;"
-      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="&#xF115;"
-      horiz-adv-x="40" d=" M2.3 20.1V36.6C2.3 37.8 2.4 38 3.7 38H11.5C12.7 38 12.9 37.8 12.9 36.6V28.6C12.9 27.6 13 27.4 14.1 27.4H25.9C27 27.4 27.1 27.6 27.1 28.6V36.8C27.1 37.8 27.3 38 28.3 38C30.8 38 30.8 38 32.3 36.4C34.1 34.7 35.7 33.1 37.4 31.4C37.7 31 37.9 30.5 37.9 30V3.6C37.9 2.5 37.7 2.2 36.7 2.2H3.5C2.4 2.2 2.3 2.3 2.3 3.6C2.3 9.1 2.3 14.7 2.3 20.1zM20.2 6H33C34.3 6 34.4 6.2 34.4 7.4V22.5C34.4 23.6 34.3 23.9 33 23.9H7.1C6.1 23.9 5.7 23.7 5.7 22.5V7.4C5.7 6.2 5.9 6 7.1 6H20.2z M24.7 34.5C24.7 33.6 24.7 32.8 24.7 31.9C24.7 31 24.3 30.9 23.7 30.9C23.1 30.9 22.4 30.9 22.1 30.9S21 31 21 31.7V31.9V36.9C21 37.3 21.2 37.8 21.9 38C21.9 38 21.9 38 22.1 38C22.6 38 23.3 38 23.8 38C24.3 38 24.9 37.6 24.9 37.1C24.9 37.1 24.9 37.1 24.9 36.9C24.7 36.3 24.7 35.2 24.7 34.5z M5.1 25H35.4V4.8H5.1V25z M6.2 24.1H34.5V5.9H6.2V24.1z" />
+      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="&#xF116;"
+      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="&#xF117;"
+      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>

docs/static/loader_back.svg

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

docs/static/loader_front.svg

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

docs/static/loader_full.svg

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

editor/deploy.ts

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

editor/extension.ts

@@ -1,242 +1,134 @@
-/// <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"/>
 
-// When require()d from node, bind the global pxt namespace
-namespace pxt {
-    export const dummyExport = 1;
+import { deployCoreAsync, initAsync } from "./deploy";
+import { FieldPorts } from "./field_ports";
+import { FieldImages } from "./field_images";
+
+pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
+    pxt.debug('loading pxt-ev3 target extensions...')
+    updateBlocklyShape();
+    const res: pxt.editor.ExtensionResult = {
+        fieldEditors: [{
+            selector: "ports",
+            editor: FieldPorts
+        }, {
+            selector: "images",
+            editor: FieldImages
+        }],
+        deployCoreAsync
+    };
+    initAsync().catch(e => {
+        // probably no HID - we'll try this again upon deployment
+    })
+    return Promise.resolve<pxt.editor.ExtensionResult>(res);
 }
-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)
-            })
-    }
+/**
+ * Update the shape of Blockly blocks with square corners
+ */
+function updateBlocklyShape() {
 
     /**
-     * Update the shape of Blockly blocks with square corners
+     * Rounded corner radius.
+     * @const
      */
-    function updateBlocklyShape() {
+    (Blockly.BlockSvg as any).CORNER_RADIUS = 0 * (Blockly.BlockSvg as any).GRID_UNIT;
 
-        /**
-         * 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 '
+    );
 
-        /**
-         * 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 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 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-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 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-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 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 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;
 
-        /**
-         * 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;
 
-    initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
-        pxt.debug('loading pxt-ev3 target extensions...')
-        updateBlocklyShape();
-        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);
-    }
 }
+
+// When require()d from node, bind the global pxt namespace
+// namespace pxt {
+//     export const dummyExport = 1;
+// }
+// eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")

editor/field_images.ts

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

editor/field_ports.ts

@@ -0,0 +1,147 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldPortsOptions extends Blockly.FieldCustomDropdownOptions {
+    columns?: string;
+    width?: string;
+}
+
+export class FieldPorts extends Blockly.FieldDropdown implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    // Width in pixels
+    private width_: number;
+
+    // Columns in grid
+    private columns_: number;
+
+    private savedPrimary_: string;
+
+    constructor(text: string, options: FieldPortsOptions, validator?: Function) {
+        super(options.data);
+
+        this.columns_ = parseInt(options.columns) || 4;
+        this.width_ = parseInt(options.width) || 300;
+    }
+
+    /**
+     * Create a dropdown menu under the text.
+     * @private
+     */
+    public showEditor_() {
+        // If there is an existing drop-down we own, this is a request to hide the drop-down.
+        if (Blockly.DropDownDiv.hideIfOwner(this)) {
+            return;
+        }
+        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
+        Blockly.DropDownDiv.hideWithoutAnimation();
+        Blockly.DropDownDiv.clearContent();
+        // Populate the drop-down with the icons for this field.
+        let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
+        let contentDiv = document.createElement('div');
+        // Accessibility properties
+        contentDiv.setAttribute('role', 'menu');
+        contentDiv.setAttribute('aria-haspopup', 'true');
+        const options = this.getOptions();
+        for (let i = 0, option: any; option = options[i]; i++) {
+            let content = (options[i] as any)[0]; // Human-readable text or image.
+            const value = (options[i] as any)[1]; // Language-neutral value.
+            // Icons with the type property placeholder take up space but don't have any functionality
+            // Use for special-case layouts
+            if (content.type == 'placeholder') {
+                let placeholder = document.createElement('span');
+                placeholder.setAttribute('class', 'blocklyDropDownPlaceholder');
+                placeholder.style.width = content.width + 'px';
+                placeholder.style.height = content.height + 'px';
+                contentDiv.appendChild(placeholder);
+                continue;
+            }
+            let button = document.createElement('button');
+            button.setAttribute('id', ':' + i); // For aria-activedescendant
+            button.setAttribute('role', 'menuitem');
+            button.setAttribute('class', 'blocklyDropDownButton');
+            button.title = content.alt;
+            if (this.columns_) {
+                button.style.width = ((this.width_ / this.columns_) - 8) + 'px';
+                button.style.height = ((this.width_ / this.columns_) - 8) + 'px';
+            } else {
+                button.style.width = content.width + 'px';
+                button.style.height = content.height + 'px';
+            }
+            let backgroundColor = this.sourceBlock_.getColour();
+            if (value == this.getValue()) {
+                // This icon is selected, show it in a different colour
+                backgroundColor = this.sourceBlock_.getColourTertiary();
+                button.setAttribute('aria-selected', 'true');
+            }
+            button.style.backgroundColor = backgroundColor;
+            button.style.borderColor = this.sourceBlock_.getColourTertiary();
+            Blockly.bindEvent_(button, 'click', this, this.buttonClick_);
+            Blockly.bindEvent_(button, 'mouseup', this, this.buttonClick_);
+            // These are applied manually instead of using the :hover pseudoclass
+            // because Android has a bad long press "helper" menu and green highlight
+            // that we must prevent with ontouchstart preventDefault
+            Blockly.bindEvent_(button, 'mousedown', button, function (e) {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                e.preventDefault();
+            });
+            Blockly.bindEvent_(button, 'mouseover', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton blocklyDropDownButtonHover');
+                contentDiv.setAttribute('aria-activedescendant', this.id);
+            });
+            Blockly.bindEvent_(button, 'mouseout', button, function () {
+                this.setAttribute('class', 'blocklyDropDownButton');
+                contentDiv.removeAttribute('aria-activedescendant');
+            });
+            let buttonImg = document.createElement('img');
+            buttonImg.src = content.src;
+            //buttonImg.alt = icon.alt;
+            // Upon click/touch, we will be able to get the clicked element as e.target
+            // Store a data attribute on all possible click targets so we can match it to the icon.
+            button.setAttribute('data-value', value);
+            buttonImg.setAttribute('data-value', value);
+            button.appendChild(buttonImg);
+            contentDiv.appendChild(button);
+        }
+        contentDiv.style.width = this.width_ + 'px';
+        dropdownDiv.appendChild(contentDiv);
+
+        Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());
+
+        // Calculate positioning based on the field position.
+        var scale = this.sourceBlock_.workspace.scale;
+        var bBox = { width: this.size_.width, height: this.size_.height };
+        bBox.width *= scale;
+        bBox.height *= scale;
+        var position = this.fieldGroup_.getBoundingClientRect();
+        var primaryX = position.left + bBox.width / 2;
+        var primaryY = position.top + bBox.height;
+        var secondaryX = primaryX;
+        var secondaryY = position.top;
+        // Set bounds to workspace; show the drop-down.
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
+            this.onHide_.bind(this));
+    }
+
+    /**
+     * Callback for when a button is clicked inside the drop-down.
+     * Should be bound to the FieldIconMenu.
+     * @param {Event} e DOM event for the click/touch
+     * @private
+     */
+    private buttonClick_ = function (e: any) {
+        let value = e.target.getAttribute('data-value');
+        this.setValue(value);
+        Blockly.DropDownDiv.hide();
+    };
+
+    /**
+     * Callback for when the drop-down is hidden.
+     */
+    private onHide_ = function () {
+        Blockly.DropDownDiv.content_.removeAttribute('role');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
+    };
+}

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
     }
 }

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"
+}

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|%",
+  "behaviors|block": "behaviors",
+  "{id:category}Behaviors": "Behaviors"
+}

libs/behaviors/pxt.json

@@ -0,0 +1,6 @@
+{
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/behaviors",
+    "dependencies": {
+        "core": "file:../ev3"
+    }
+}

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|%"
+    export function driveForward(motors: motors.MotorBase, speed: number): behaviors.Behavior {
+        return new DriveForwardBehavior(motors, speed);
+    }
+}

libs/chassis/README.md

@@ -0,0 +1,3 @@
+# Chassis
+
+A library to control a chassis.

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

@@ -0,0 +1,14 @@
+{
+  "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.driveFor": "Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)\nusing a unicycle model.",
+  "chassis.Chassis.driveFor|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
+  "chassis.Chassis.driveFor|param|speed": "speed of the center point between motors, eg: 10",
+  "chassis.Chassis.driveFor|param|value": "the amount of movement, eg: 2",
+  "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.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"
+}

libs/chassis/_locales/chassis-strings.json

@@ -0,0 +1,10 @@
+{
+  "ChassisProperty.BaseLength|block": "base length (cm)",
+  "ChassisProperty.WheelRadius|block": "wheel radius (cm)",
+  "chassis.Chassis.driveFor|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
+  "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"
+}

libs/chassis/chassis.ts

@@ -0,0 +1,101 @@
+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
+         */
+        //% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s"
+        //% inlineInputMode=inline
+        //% weight=99 blockGap=8
+        drive(speed: number, rotationSpeed: number) {
+            this.driveFor(speed, rotationSpeed, 0, MoveUnit.Degrees);
+        }
+
+        /**
+         * 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=motorDriveFor block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit"
+        //% inlineInputMode=inline
+        //% weight=95 blockGap=8
+        driveFor(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
+            // 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.tankFor(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();
+}

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"
+    }
+}

libs/chassis/test.ts

@@ -0,0 +1 @@
+

libs/color-sensor/color.ts

@@ -111,6 +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) {
@@ -130,6 +131,7 @@ namespace sensors {
         //% blockId=colorPauseForColorDetected
         //% parts="colorsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=99 blockGap=8
         //% group="Color Sensor"
         pauseForColor(color: ColorSensorColor) {
@@ -149,6 +151,7 @@ namespace sensors {
         //% blockId=colorGetColor
         //% parts="colorsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=99
         //% group="Color Sensor"
         color(): ColorSensorColor {
@@ -166,6 +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) {
@@ -182,6 +186,7 @@ namespace sensors {
         //% blockId=colorPauseForLight
         //% parts="colorsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=88 blockGap=8
         //% group="Color Sensor"
         pauseForLight(mode: LightIntensityMode, condition: LightCondition) {
@@ -199,6 +204,7 @@ namespace sensors {
         //% blockId=colorLight
         //% parts="colorsensor"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=87
         //% group="Color Sensor"
         light(mode: LightIntensityMode) {
@@ -217,15 +223,15 @@ namespace sensors {
         }
     }
 
+    //% 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)
 }

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

@@ -21,6 +21,7 @@
   "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.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.",
@@ -52,15 +53,12 @@
   "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.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).",
@@ -68,23 +66,28 @@
   "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.setSpeedFor": "Sets the motor speed for limited time or distance",
+  "motors.MotorBase.setSpeedFor|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
+  "motors.MotorBase.setSpeedFor|param|unit": "the meaning of the value",
+  "motors.MotorBase.setSpeedFor|param|value": "the move quantity, eg: 2",
   "motors.MotorBase.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
   "motors.MotorBase.stop": "Stops the motor(s).",
-  "motors.SynchedMotorPair.drive": "Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)\nusing a unicycle model.",
-  "motors.SynchedMotorPair.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
-  "motors.SynchedMotorPair.drive|param|speed": "speed of the center point between motors, eg: 10",
-  "motors.SynchedMotorPair.drive|param|value": "the amount of movement, eg: 2",
-  "motors.SynchedMotorPair.setDimensions": "Sets the wheels radius and base length of a directional drive robot",
-  "motors.SynchedMotorPair.setDimensions|param|wheelRadius": "@param baseLength ",
   "motors.SynchedMotorPair.steer": "Turns the motor and the follower motor by a number of rotations",
+  "motors.SynchedMotorPair.steerFor": "Turns the motor and the follower motor by a number of rotations",
+  "motors.SynchedMotorPair.steerFor|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
+  "motors.SynchedMotorPair.steerFor|param|turnRatio": "the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0",
+  "motors.SynchedMotorPair.steerFor|param|unit": "the meaning of the value",
+  "motors.SynchedMotorPair.steerFor|param|value": "the move quantity, eg: 2",
   "motors.SynchedMotorPair.steer|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
   "motors.SynchedMotorPair.steer|param|turnRatio": "the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0",
-  "motors.SynchedMotorPair.steer|param|unit": "the meaning of the value",
-  "motors.SynchedMotorPair.steer|param|value": "the move quantity, eg: 2",
   "motors.SynchedMotorPair.tank": "The Move Tank block can make a robot drive forward, backward, turn, or stop. \nUse the Move Tank block for robot vehicles that have two Large Motors, \nwith one motor driving the left side of the vehicle and the other the right side. \nYou can make the two motors go at different speeds or in different directions \nto make your robot turn.",
+  "motors.SynchedMotorPair.tankFor": "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.tankFor|param|speedLeft": "the speed on the left motor, eg: 50",
+  "motors.SynchedMotorPair.tankFor|param|speedRight": "the speed on the right motor, eg: 50",
+  "motors.SynchedMotorPair.tankFor|param|unit": "the unit of the value",
+  "motors.SynchedMotorPair.tankFor|param|value": "the amount of movement, eg: 2",
+  "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.toString": "Returns the name(s) of the motor",
   "motors.mkCmd": "Allocates a message buffer",
   "motors.mkCmd|param|addSize": "required additional bytes",

libs/core/_locales/core-strings.json

@@ -15,6 +15,7 @@
   "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",
@@ -28,6 +29,7 @@
   "brick.Button.onEvent|block": "on %button|%event",
   "brick.Button.pauseUntil|block": "pause until %button|%event",
   "brick.Button.wasPressed|block": "%button|was pressed",
+  "brick.batteryLevel|block": "battery level",
   "brick.buttonDown|block": "down",
   "brick.buttonEnter|block": "enter",
   "brick.buttonLeft|block": "left",
@@ -47,15 +49,18 @@
   "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.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.setBrake|block": "set %motor|brake %brake",
   "motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
-  "motors.MotorBase.setSpeed|block": "set speed of %motor|to %speed|%",
-  "motors.SynchedMotorPair.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
-  "motors.SynchedMotorPair.steer|block": "steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit",
-  "motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit",
+  "motors.MotorBase.setSpeedFor|block": "set %motor|speed to %speed|%|for %value|%unit",
+  "motors.MotorBase.setSpeed|block": "set %motor|speed to %speed|%",
+  "motors.SynchedMotorPair.steerFor|block": "steer %chassis|turn ratio %turnRatio|speed %speed|%|for %value|%unit",
+  "motors.SynchedMotorPair.steer|block": "steer %chassis|turn ratio %turnRatio|speed %speed|%",
+  "motors.SynchedMotorPair.tankFor|block": "tank %motors|%speedLeft|%|%speedRight|%|for %value|%unit",
+  "motors.SynchedMotorPair.tank|block": "tank %motors|%speedLeft|%|%speedRight|%",
   "motors.largeAB|block": "large A+B",
   "motors.largeAD|block": "large A+D",
   "motors.largeA|block": "large A",
@@ -85,9 +90,11 @@
   "{id:category}Screen": "Screen",
   "{id:category}Serial": "Serial",
   "{id:group}Buttons": "Buttons",
-  "{id:group}Chassis": "Chassis",
+  "{id:group}Counters": "Counters",
   "{id:group}Light": "Light",
+  "{id:group}More": "More",
   "{id:group}Motion": "Motion",
   "{id:group}Screen": "Screen",
-  "{id:group}Sensors": "Sensors"
+  "{id:group}Sensors": "Sensors",
+  "{id:group}Sync Motion": "Sync Motion"
 }

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;
+    }
+}

libs/core/buttons.ts

@@ -163,6 +163,12 @@ 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();
+            control.reset()
+        }
         return ret
     }
 
@@ -172,8 +178,6 @@ 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))
         })
@@ -188,7 +192,7 @@ namespace brick {
             initBtns()
             buttons.push(this)
         }
-    }
+    }    
 
     initBtns() // always ON as it handles ESCAPE button
 
@@ -229,6 +233,7 @@ namespace control {
     /**
      * Determine the version of system software currently running.
      */
+    //%
     export function deviceFirmwareVersion(): string {
         let buf = output.createBuffer(6)
         brick.internal.getBtnsMM().read(buf)

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;

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: analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryCurrent)
+        }
+    }
+
     function detectDevices() {
         let conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let numChanged = 0
@@ -301,6 +309,10 @@ namespace sensors.internal {
                 return 0
             return getUartNumber(fmt, off, this._port)
         }
+
+        protected reset() {
+            if (this.isActive()) uartReset(this._port);
+        }
     }
 
     function uartReset(port: number) {

libs/core/output.ts

@@ -30,6 +30,8 @@ enum MoveUnit {
     Rotations,
     //% block="degrees"
     Degrees,
+    //% block="seconds"
+    Seconds,
     //% block="milliseconds"
     MilliSeconds
 }
@@ -109,7 +111,7 @@ namespace motors {
      * Stops all motors
      */
     //% blockId=motorStopAll block="stop all motors"
-    //% weight=97
+    //% weight=5
     //% group="Motion"
     export function stopAllMotors() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
@@ -204,7 +206,7 @@ namespace motors {
          * Sets the speed of the motor.
          * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
          */
-        //% blockId=motorSetSpeed block="set speed of %motor|to %speed|%"
+        //% blockId=motorSetSpeed block="set %motor|speed to %speed|%"
         //% on.fieldEditor=toggleonoff
         //% weight=99 blockGap=8
         //% speed.min=-100 speed.max=100
@@ -219,16 +221,16 @@ namespace motors {
         }
 
         /**
-         * Moves the motor by a number of rotations, degress or seconds
+         * 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 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|%"
+        //% blockId=motorMove block="set %motor|speed to %speed|%|for %value|%unit"
         //% weight=98 blockGap=8
         //% speed.min=-100 speed.max=100    
         //% group="Motion"
-        move(value: number, unit: MoveUnit, speed: number) {
+        setSpeedFor(speed: number, value: number, unit: MoveUnit) {
             this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) {
@@ -246,6 +248,10 @@ namespace motors {
                     stepsOrTime = value >> 0;
                     useSteps = true;
                     break;
+                case MoveUnit.Seconds:
+                    stepsOrTime = (value * 1000) >> 0;
+                    useSteps = false;
+                    break;
                 default:
                     stepsOrTime = value;
                     useSteps = false;
@@ -258,19 +264,13 @@ namespace motors {
         /**
          * 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;
         }
 
         /**
@@ -278,6 +278,7 @@ namespace motors {
          * @param timeOut optional maximum pausing time in milliseconds
          */
         //% blockId=motorPauseUntilRead block="%motor|pause until ready"
+        //% weight=97
         //% group="Motion"
         pauseUntilReady(timeOut?: number) {
             pauseUntil(() => this.isReady(), timeOut);
@@ -330,30 +331,49 @@ namespace motors {
          * @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)
@@ -399,13 +419,9 @@ namespace motors {
 
     //% fixedInstances
     export class SynchedMotorPair extends MotorBase {
-        private wheelRadius: number;
-        private baseLength: number;
 
         constructor(ports: Output) {
             super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
-            this.wheelRadius = 3;
-            this.baseLength = 12;
             this.markUsed();
         }
 
@@ -426,7 +442,7 @@ namespace motors {
         private __setSpeed(speed: number) {
             syncMotors(this._port, {
                 speed: speed,
-                turnRatio: 0,
+                turnRatio: 0, // same speed
                 useBrake: !!this._brake
             })
         }
@@ -435,30 +451,47 @@ namespace motors {
             syncMotors(this._port, {
                 useSteps: steps,
                 speed: speed,
-                turnRatio: 100, // same speed
+                turnRatio: 0, // same speed
                 stepsOrTime: stepsOrTime,
                 useBrake: this._brake
             });
         }
 
+
+        /**
+         * The Move Tank block can make a robot drive forward, backward, turn, or stop. 
+         * Use the Move Tank block for robot vehicles that have two Large Motors, 
+         * with one motor driving the left side of the vehicle and the other the right side. 
+         * You can make the two motors go at different speeds or in different directions 
+         * to make your robot turn.
+         * @param speedLeft the speed on the left motor, eg: 50
+         * @param speedRight the speed on the right motor, eg: 50
+         */
+        //% blockId=motorPairTank block="tank %motors|%speedLeft|%|%speedRight|%"
+        //% weight=20 blockGap=8
+        //% group="Sync Motion"
+        tank(speedLeft: number, speedRight: number) {
+            this.tankFor(speedLeft, speedRight, 0, MoveUnit.Degrees);
+        }
+
         /**
          * 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
+         * @param value the amount of movement, eg: 2
+         * @param unit the unit of the value
          */
-        //% blockId=motorPairTank block="tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit"
-        //% weight=9 blockGap=8
+        //% blockId=motorPairTankFor block="tank %motors|%speedLeft|%|%speedRight|%|for %value|%unit"
+        //% weight=19
         //% speedLeft.min=-100 speedLeft=100
         //% speedRight.min=-100 speedRight=100
         //% inlineInputMode=inline
-        //% group="Chassis"
-        tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
+        //% group="Sync Motion"
+        tankFor(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
             this.init();
 
             speedLeft = Math.clamp(-100, 100, speedLeft >> 0);
@@ -468,43 +501,11 @@ namespace motors {
             const turnRatio = speedLeft == speed
                 ? (100 - speedRight / speedLeft * 100)
                 : (speedLeft / speedRight * 100 - 100);
-            this.steer(turnRatio, speed, value, unit);
+
+            this.steerFor(turnRatio, speed, value, unit);
         }
 
-        /**
-         * Makes a differential drive robot move with a given speed (%) and rotation rate (deg/s)
-         * using a unicycle model.
-         * @param speed speed of the center point between motors, eg: 10
-         * @param rotationSpeed rotation of the robot around the center point, eg: 30
-         * @param value the amount of movement, eg: 2
-         * @param unit 
-         */
-        //% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit"
-        //% inlineInputMode=inline
-        //% group="Chassis"
-        //% weight=8 blockGap=8
-        drive(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
-            this.init();
 
-            // speed is expressed in %
-            const R = this.wheelRadius; // cm
-            const L = this.baseLength; // cm
-            const PI = 3.14;
-            const maxw = 170 / 60 * 2 * PI; // rad / s
-            const maxv = maxw * R; // cm / s
-            // speed is cm / s
-            const v = speed; // cm / s
-            const w = rotationSpeed / 360 * 2 * PI; // rad / s
-
-            const vr = (2 * v + w * L) / (2 * R); // rad / s
-            const vl = (2 * v - w * L) / (2 * R); // rad / s
-
-            const sr = vr / maxw * 100; // % 
-            const sl = vl / maxw * 100; // %
-
-            this.tank(sr, sl, value, unit)
-        }    
-        
         /**
          * Turns the motor and the follower motor by a number of rotations
          * @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0
@@ -512,12 +513,28 @@ namespace motors {
          * @param value the move quantity, eg: 2
          * @param unit the meaning of the value
          */
-        //% blockId=motorPairTurn block="steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit"
+        //% blockId=motorPairSteer block="steer %chassis|turn ratio %turnRatio|speed %speed|%"
+        //% weight=7 blockGap=8
+        //% turnRatio.min=-200 turnRatio=200
+        //% inlineInputMode=inline
+        //% group="Sync Motion"
+        steer(turnRatio: number, speed: number) {
+            this.steer(turnRatio, speed);
+        }
+
+        /**
+         * Turns the motor and the follower motor by a number of rotations
+         * @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0
+         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
+         * @param value the move quantity, eg: 2
+         * @param unit the meaning of the value
+         */
+        //% blockId=motorPairSteerFor block="steer %chassis|turn ratio %turnRatio|speed %speed|%|for %value|%unit"
         //% weight=6 blockGap=8
         //% turnRatio.min=-200 turnRatio=200
         //% inlineInputMode=inline
-        //% group="Chassis"
-        steer(turnRatio: number, speed: number, value: number, unit: MoveUnit) {
+        //% group="Sync Motion"
+        steerFor(turnRatio: number, speed: number, value: number, unit: MoveUnit) {
             this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) {
@@ -537,6 +554,10 @@ namespace motors {
                     stepsOrTime = value >> 0;
                     useSteps = true;
                     break;
+                case MoveUnit.Seconds:
+                    stepsOrTime = (value * 1000) >> 0;
+                    useSteps = false;
+                    break;
                 default:
                     stepsOrTime = value >> 0;
                     useSteps = false;
@@ -550,17 +571,6 @@ namespace motors {
                 stepsOrTime: stepsOrTime,
                 useBrake: this._brake
             });
-        }        
-
-        /**
-         * Sets the wheels radius and base length of a directional drive robot
-         * @param wheelRadius 
-         * @param baseLength 
-         */
-        //% group="Chassis"
-        setDimensions(wheelRadius: number, baseLength: number): void {
-            this.wheelRadius = wheelRadius;
-            this.baseLength = baseLength;
         }
 
         /**

libs/core/pxt.json

@@ -16,6 +16,7 @@
         "png.cpp",
         "screen.cpp",
         "screen.ts",
+        "battery.ts",
         "output.cpp",
         "output.ts",
         "core.ts",

libs/core/screen.ts

@@ -151,9 +151,9 @@ namespace brick {
      * @param image the image
      */
     //% blockId=screen_image_picker block="%image" shim=TD_ID
-    //% image.fieldEditor="imagedropdown"
+    //% image.fieldEditor="images"
     //% image.fieldOptions.columns=6
-    //% image.fieldOptions.hasSearchBar=true
+    //% image.fieldOptions.width=600
     //% group="Screen" weight=0 blockHidden=1
     export function __imagePicker(image: Image): Image {
         return image;

libs/ev3/ns.ts

@@ -14,11 +14,20 @@ namespace sensors {
 }
 
 //% color="#A5CA18" weight=90 icon="\uf10d"
-//% groups='["Motion", "Sensors", "Chassis"]'
+//% groups='["Motion", "Counters", "Sync Motion"]'
 //% labelLineWidth=0
 namespace motors {
 }
 
+//% labelLineWidth=0
+namespace chassis {
+
+}
+
+//% labelLineWidth=0
+namespace behaviors {
+}
+
 //% color="#D67923" weight=80 icon="\uf10e"
 namespace music {
 

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

@@ -1,4 +1,5 @@
 {
   "sensors.GyroSensor.angle": "Get the current angle from the gyroscope.",
-  "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope."
+  "sensors.GyroSensor.calibrate": "Forces a calibration of the gyro. Must be called when the sensor is completely still.",
+  "sensors.GyroSensor.rotationRate": "Get the current rotation rate from the gyroscope."
 }

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

@@ -1,6 +1,7 @@
 {
   "sensors.GyroSensor.angle|block": "%sensor|angle",
-  "sensors.GyroSensor.rate|block": "%sensor|rotation rate",
+  "sensors.GyroSensor.calibrate|block": "%sensor|calibrate",
+  "sensors.GyroSensor.rotationRate|block": "%sensor|rotation rate",
   "sensors.gyro1|block": "gyro 1",
   "sensors.gyro2|block": "gyro 2",
   "sensors.gyro3|block": "gyro 3",

libs/gyro-sensor/gyro.ts

@@ -7,8 +7,10 @@ const enum GyroSensorMode {
 namespace sensors {
     //% fixedInstances
     export class GyroSensor extends internal.UartSensor {
+        private calibrating: boolean;
         constructor(port: number) {
             super(port)
+            this.calibrating = false;
         }
 
         _deviceType() {
@@ -28,9 +30,13 @@ namespace sensors {
         //% blockId=gyroGetAngle
         //% parts="gyroscope"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=65 blockGap=8
         //% group="Gyro Sensor"
         angle(): number {
+            if (this.calibrating)
+                pauseUntil(() => !this.calibrating, 2000);
+
             this.setMode(GyroSensorMode.Angle)
             return this.getNumber(NumberFormat.Int16LE, 0)
         }
@@ -39,25 +45,61 @@ namespace sensors {
          * Get the current rotation rate from the gyroscope.
          * @param sensor the gyroscope to query the request
          */
-        //% help=input/gyro/rate
+        //% help=input/gyro/rotation-rate
         //% block="%sensor|rotation rate"
         //% blockId=gyroGetRate
         //% parts="gyroscope"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=65 blockGap=8        
         //% group="Gyro Sensor"
-        rate(): number {
+        rotationRate(): number {
+            if (this.calibrating)
+                pauseUntil(() => !this.calibrating, 2000);
+
             this.setMode(GyroSensorMode.Rate)
             return this.getNumber(NumberFormat.Int16LE, 0)
         }
-    }
 
-    //% fixedInstance whenUsed block="gyro 1" jres=icons.port1
-    export const gyro1: GyroSensor = new GyroSensor(1)
+        /**
+         * Forces a calibration of the gyro. Must be called when the sensor is completely still.
+         */
+        //% help=input/gyro/calibrate
+        //% block="%sensor|calibrate"
+        //% blockId=gyroCalibrate   
+        //% parts="gyroscope"
+        //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
+        //% weight=65 blockGap=8        
+        //% group="Gyro Sensor"
+        calibrate(): void {
+            if (this.calibrating) return; // already in calibration mode
+
+            this.calibrating = true;
+            // may be triggered by a button click, give time to settle
+            loops.pause(500);
+            // send a reset command
+            this.reset();
+            // we need to switch mode twice to perform a calibration
+            if (this.mode == GyroSensorMode.Rate)
+                this.setMode(GyroSensorMode.Angle);
+            else
+                this.setMode(GyroSensorMode.Rate);
+            // switch back and wait
+            if (this.mode == GyroSensorMode.Rate)
+                this.setMode(GyroSensorMode.Angle);
+            else
+                this.setMode(GyroSensorMode.Rate);
+            this.calibrating = false;
+        }
+    }
 
     //% fixedInstance whenUsed block="gyro 2" weight=95 jres=icons.port2
     export const gyro2: GyroSensor = new GyroSensor(2)
 
+    //% fixedInstance whenUsed block="gyro 1" jres=icons.port1
+    export const gyro1: GyroSensor = new GyroSensor(1)
+
     //% fixedInstance whenUsed block="gyro 3" jres=icons.port3
     export const gyro3: GyroSensor = new GyroSensor(3)
 

libs/music/sounds.ts

@@ -266,8 +266,10 @@ namespace music {
     //% blockId=music_play_sound_effect_until_done block="play sound effect %sound|until done"
     //% weight=98 blockGap=8
     export function playSoundEffectUntilDone(sound: Sound) {
-        if (!sound) return;
+        if (!sound || numSoundsPlaying >= soundsLimit) return;
+        numSoundsPlaying++;
         sound.play();
+        numSoundsPlaying--;
     }
 
     /**

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

@@ -1,9 +1,11 @@
 {
-  "tests": "Unit tests framework",
+  "TestEvent": "Various test event in the execution cycle",
+  "tests": "A Unit tests framework",
   "tests.assert": "Checks a boolean condition",
   "tests.assertClose": "Checks that 2 values are close to each other",
   "tests.assertClose|param|actual": "what the value was",
   "tests.assertClose|param|expected": "what the value should be",
-  "tests.assertClose|param|tolerance": "the acceptable error margin",
+  "tests.assertClose|param|tolerance": "the acceptable error margin, eg: 5",
+  "tests.onEvent": "Registers code to be called at various points in the test execution",
   "tests.test": "Registers a test to run"
 }

libs/tests/_locales/tests-strings.json

@@ -1,4 +1,9 @@
 {
+  "TestEvent.RunSetUp|block": "run setup",
+  "TestEvent.RunTearDown|block": "run teardown",
+  "TestEvent.TestSetUp|block": "test setup",
+  "TestEvent.TestTearDown|block": "test teardown",
+  "tests.assertClose|block": "assert %message|%expected|close to %actual|by %tolerance",
   "tests.assert|block": "assert %message|%condition",
   "tests.test|block": "test %name",
   "tests|block": "tests",

libs/tests/pxt.json

@@ -1,14 +1,6 @@
 {
-    "name": "tests",
-    "description": "A unit test library",
-    "files": [
-        "README.md",
-        "tests.ts"
-    ],
-    "testFiles": [
-    ],
-    "public": true,
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/tests",
     "dependencies": {
-        "core": "file:../core"
+        "core": "file:../ev3"
     }
 }

libs/tests/targetoverrides.ts

@@ -0,0 +1,12 @@
+// EV3 specific test functions
+tests.onEvent(TestEvent.RunSetUp, function() {
+    console.sendToScreen();
+})
+tests.onEvent(TestEvent.TestSetUp, function() {
+    motors.stopAllMotors();
+    motors.resetAllMotors();
+})
+tests.onEvent(TestEvent.TestTearDown, function() {
+    motors.stopAllMotors();
+    motors.resetAllMotors();
+})

libs/tests/tests.ts

@@ -1,94 +0,0 @@
-/**
- * Unit tests framework
- */
-//% weight=100 color=#0fbc11 icon=""
-namespace tests {
-    class Test {
-        name: string;
-        handler: () => void;
-        errors: string[];
-
-        constructor(name: string, handler: () => void) {
-            this.name = name;
-            this.handler = handler;
-            this.errors = [];
-        }
-
-        reset() {
-            motors.stopAllMotors();
-            motors.resetAllMotors();
-        }
-
-        run() {
-            // clear state
-            this.reset();
-
-            console.log(`> ${this.name}`)
-            this.handler()
-
-            if (this.errors.length)
-                console.log('')
-
-            // ensure clean state after test
-            this.reset();
-        }
-    }
-
-    let _tests: Test[] = undefined;
-    let _currentTest: Test = undefined;
-
-    function run() {
-        if (!_tests) return;
-
-        const start = control.millis();
-        console.sendToScreen();
-        console.log(`${_tests.length} tests found`)
-        console.log(` `)
-        for (let i = 0; i < _tests.length; ++i) {
-            const t = _currentTest = _tests[i];
-            t.run();
-            _currentTest = undefined;
-        }
-        console.log(` `)
-        console.log(`${_tests.length} tests, ${_tests.map(t => t.errors.length).reduce((p, c) => p + c, 0)} errs in ${Math.ceil((control.millis() - start) / 1000)}s`)
-    }
-
-    /**
-     * Registers a test to run
-     */
-    //% blockId=testtest block="test %name"
-    export function test(name: string, handler: () => void): void {
-        if (!name || !handler) return;
-        if (!_tests) {
-            _tests = [];
-            control.runInBackground(function () {
-                // should run after on start
-                loops.pause(100)
-                run()
-            })
-        }
-        _tests.push(new Test(name, handler));
-    }
-
-    /** 
-     * Checks a boolean condition
-     */
-    //% blockId=testAssert block="assert %message|%condition"
-    export function assert(message: string, condition: boolean) {
-        if (!condition) {
-            console.log(`!!! ${message || ''}`)
-            if (_currentTest)
-                _currentTest.errors.push(message);
-        }
-    }
-
-    /**
-     * Checks that 2 values are close to each other
-     * @param expected what the value should be
-     * @param actual what the value was
-     * @param tolerance the acceptable error margin
-     */
-    export function assertClose(name: string, expected: number, actual: number, tolerance: number) {
-        assert(`${name} ${expected} != ${actual} +-${tolerance}`, Math.abs(expected - actual) <= tolerance);
-    }
-}

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

@@ -6,10 +6,10 @@
   "sensors.TouchSensor.onEvent|block": "on %sensor|%event",
   "sensors.TouchSensor.pauseUntil|block": "pause until %sensor|%event",
   "sensors.TouchSensor.wasPressed|block": "%sensor|was pressed",
-  "sensors.touchSensor1|block": "touch 1",
-  "sensors.touchSensor2|block": "touch 2",
-  "sensors.touchSensor3|block": "touch 3",
-  "sensors.touchSensor4|block": "touch 4",
+  "sensors.touch1|block": "touch 1",
+  "sensors.touch2|block": "touch 2",
+  "sensors.touch3|block": "touch 3",
+  "sensors.touch4|block": "touch 4",
   "{id:category}Sensors": "Sensors",
   "{id:group}Touch Sensor": "Touch Sensor"
 }

libs/touch-sensor/test.ts

@@ -1,8 +1,8 @@
-sensors.touchSensor1.onEvent(TouchSensorEvent.Pressed, function () {
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
 })
-sensors.touchSensor2.onEvent(TouchSensorEvent.Bumped, function () {
+sensors.touch2.onEvent(TouchSensorEvent.Bumped, function () {
 })
-sensors.touchSensor3.onEvent(TouchSensorEvent.Released, function () {
+sensors.touch3.onEvent(TouchSensorEvent.Released, function () {
 })
-sensors.touchSensor4.isPressed();
-sensors.touchSensor4.wasPressed();
+sensors.touch4.isPressed();
+sensors.touch4.wasPressed();

libs/touch-sensor/touch.ts

@@ -45,6 +45,7 @@ namespace sensors {
         //% blockId=touchEvent block="on %sensor|%event"
         //% parts="touch"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=99 blockGap=8
         //% group="Touch Sensor"
         onEvent(ev: TouchSensorEvent, body: () => void) {
@@ -60,6 +61,7 @@ namespace sensors {
         //% blockId=touchWaitUntil block="pause until %sensor|%event"
         //% parts="touch"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=98 blockGap=8
         //% group="Touch Sensor"
         pauseUntil(ev: TouchSensorEvent) {
@@ -75,6 +77,7 @@ namespace sensors {
         //% blockId=touchIsPressed
         //% parts="touch"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=81
         //% group="Touch Sensor"
         isPressed() {
@@ -90,6 +93,7 @@ namespace sensors {
         //% blockId=touchWasPressed
         //% parts="touch"
         //% blockNamespace=sensors
+        //% sensor.fieldEditor="ports"
         //% weight=81 blockGap=8
         //% group="Touch Sensor"
         wasPressed() {
@@ -98,11 +102,11 @@ namespace sensors {
     }
 
     //% whenUsed block="touch 1" weight=95 fixedInstance jres=icons.port1
-    export const touchSensor1: TouchSensor = new TouchSensor(1)
+    export const touch1: TouchSensor = new TouchSensor(1)
     //% whenUsed block="touch 2" weight=95 fixedInstance jres=icons.port2
-    export const touchSensor2: TouchSensor = new TouchSensor(2)
+    export const touch2: TouchSensor = new TouchSensor(2)
     //% whenUsed block="touch 3" weight=95 fixedInstance jres=icons.port3
-    export const touchSensor3: TouchSensor = new TouchSensor(3)
+    export const touch3: TouchSensor = new TouchSensor(3)
     //% whenUsed block="touch 4" weight=95 fixedInstance jres=icons.port4
-    export const touchSensor4: TouchSensor = new TouchSensor(4)
+    export const touch4: TouchSensor = new TouchSensor(4)
 }