0.0.53

Synced motors label (in simulator)

cmds/cmds.ts

@@ -2,14 +2,10 @@
 
 import * as fs from 'fs';
 
-require("./editor/deploy")
-
-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/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

@@ -29,7 +29,8 @@ export function initAsync() {
 
     let canHID = false
     if (pxt.U.isNodeJS) {
-        canHID = true
+        // 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)

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/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.",

libs/core/_locales/core-strings.json

@@ -28,6 +28,7 @@
   "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",
@@ -89,6 +90,7 @@
   "{id:group}Buttons": "Buttons",
   "{id:group}Chassis": "Chassis",
   "{id:group}Light": "Light",
+  "{id:group}More": "More",
   "{id:group}Motion": "Motion",
   "{id:group}Screen": "Screen",
   "{id:group}Sensors": "Sensors"

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 +163,10 @@ 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)
+            control.reset()
         return ret
     }
 
@@ -172,8 +176,6 @@ 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))
         })

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

@@ -343,7 +343,7 @@ namespace motors {
          * 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"
         angle(): number {
@@ -445,7 +445,7 @@ namespace motors {
         private __setSpeed(speed: number) {
             syncMotors(this._port, {
                 speed: speed,
-                turnRatio: 0,
+                turnRatio: 100, // same speed
                 useBrake: !!this._brake
             })
         }

libs/core/pxt.json

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

libs/ev3/ns.ts

@@ -19,6 +19,10 @@ namespace sensors {
 namespace motors {
 }
 
+//% 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() {
@@ -32,6 +34,9 @@ namespace sensors {
         //% 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)
         }
@@ -40,7 +45,7 @@ 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"
@@ -48,18 +53,53 @@ namespace 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/pxt.json

@@ -1,16 +1,6 @@
 {
-    "name": "tests",
-    "description": "A unit test library",
-    "files": [
-        "README.md",
-        "tests.ts",
-        "platformoverrides.ts"
-    ],
-    "testFiles": [
-    ],
-    "public": true,
     "additionalFilePath": "../../node_modules/pxt-common-packages/libs/tests",
     "dependencies": {
-        "core": "file:../core"
+        "core": "file:../ev3"
     }
 }

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.51",
+  "version": "0.0.53",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [
@@ -44,7 +44,7 @@
     "webfonts-generator": "^0.4.0"
   },
   "dependencies": {
-    "pxt-common-packages": "0.15.1",
+    "pxt-common-packages": "0.15.3",
     "pxt-core": "3.0.5"
   },
   "scripts": {

pxtarget.json

@@ -16,7 +16,8 @@
         "libs/infrared-sensor",
         "libs/gyro-sensor",
         "libs/ev3",
-        "libs/tests"
+        "libs/tests",
+        "libs/behaviors"
     ],
     "simulator": {
         "autoRun": true,

sim/dalboard.ts

@@ -3,24 +3,6 @@
 /// <reference path="../built/common-sim.d.ts"/>
 
 namespace pxsim {
-    export enum CPlayPinName {
-        A0,
-        A1,
-        A2,
-        A3,
-        A4,
-        A5,
-        A6,
-        A7,
-        A8,
-        A9,
-        D4,
-        D5,
-        D6,
-        D7,
-        D8,
-        D13
-    }
 
     export class EV3Board extends CoreBoard {
         view: SVGSVGElement;
@@ -36,7 +18,7 @@ namespace pxsim {
         brickNode: BrickNode;
         outputNodes: MotorNode[] = [];
 
-        private motorMap: pxt.Map<number> = {
+        public motorMap: pxt.Map<number> = {
             0x01: 0,
             0x02: 1,
             0x04: 2,
@@ -115,27 +97,40 @@ namespace pxsim {
             return this.brickNode;
         }
 
-        motorUsed(port:number, large: boolean) {
-            for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+        motorUsed(port: number, large: boolean) {
+            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
                 const p = 1 << i;
                 if (port & p) {
                     const motorPort = this.motorMap[p];
                     if (!this.outputNodes[motorPort])
                         this.outputNodes[motorPort] = new MotorNode(motorPort, large);
-                }    
-            }            
+                }
+            }
+        }
+
+        hasMotor(port: number) {
+            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+                const p = 1 << i;
+                if (port & p) {
+                    const motorPort = this.motorMap[p];
+                    const outputNode = this.outputNodes[motorPort];
+                    if (outputNode)
+                        return true;
+                }
+            }
+            return false;
         }
 
         getMotor(port: number, large?: boolean): MotorNode[] {
             const r = [];
-            for(let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+            for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
                 const p = 1 << i;
                 if (port & p) {
                     const motorPort = this.motorMap[p];
                     const outputNode = this.outputNodes[motorPort];
                     if (outputNode)
                         r.push(outputNode);
-                }    
+                }
             }
             return r;
         }
@@ -144,6 +139,10 @@ namespace pxsim {
             return this.outputNodes;
         }
 
+        hasSensor(port: number) {
+            return !!this.inputNodes[port];
+        }
+
         getSensor(port: number, type: number): SensorNode {
             if (!this.inputNodes[port]) {
                 switch (type) {
@@ -168,6 +167,7 @@ namespace pxsim {
         runtime.postError = (e) => {
             // TODO
             runtime.updateDisplay();
+            console.log('runtime error: ' + e);
         }
     }
 

sim/state/analog.ts

@@ -24,13 +24,14 @@ namespace pxsim {
     }
 
     export class EV3AnalogState {
-
         constructor() {
             let data = new Uint8Array(5172)
             MMapMethods.register("/dev/lms_analog", {
                 data,
                 beforeMemRead: () => {
                     //console.log("analog before read");
+                    data[AnalogOff.BatteryTemp] = 21; // TODO simulate this
+                    data[AnalogOff.BatteryCurrent] = 100; // TODO simulate this
                     const inputNodes = ev3board().getInputNodes();
                     for (let port = 0; port < DAL.NUM_INPUTS; port++) {
                         const node = inputNodes[port];

sim/state/input.ts

@@ -1,10 +1,17 @@
 
+
+import lf = pxsim.localization.lf;
+
 namespace pxsim.motors {
 
     export function __motorUsed(port: number, large: boolean) {
         //console.log("MOTOR INIT " + port);
-        ev3board().motorUsed(port, large);
-        runtime.queueDisplayUpdate();
+        if (!ev3board().hasMotor(port)) {
+            ev3board().motorUsed(port, large);
+            runtime.queueDisplayUpdate();
+        } else {
+            U.userError(`${lf("Multiple motors are connected to Port")} ${String.fromCharCode('A'.charCodeAt(0) + ev3board().motorMap[port])}`);
+        }
     }
 }
 
@@ -12,7 +19,11 @@ namespace pxsim.sensors {
 
     export function __sensorUsed(port: number, type: number) {
         //console.log("SENSOR INIT " + port + ", type: " + type);
-        const sensor = ev3board().getSensor(port, type);
-        runtime.queueDisplayUpdate();
+        if (!ev3board().hasSensor(port)) {
+            const sensor = ev3board().getSensor(port, type);
+            runtime.queueDisplayUpdate();
+        } else {
+            U.userError(`${lf("Multiple sensors are connected to Port")} ${port + 1}`);
+        }
     }
 }

sim/state/motornode.ts

@@ -88,7 +88,7 @@ namespace pxsim {
         }
 
         updateState(elapsed: number) {
-            console.log(`motor: ${elapsed}ms - ${this.speed}% - ${this.angle}> - ${this.tacho}|`)
+            //console.log(`motor: ${elapsed}ms - ${this.speed}% - ${this.angle}> - ${this.tacho}|`)
             const interval = Math.min(20, elapsed);
             let t = 0;
             while (t < elapsed) {

sim/state/sounds.ts

@@ -10,8 +10,6 @@ namespace pxsim.music {
 }
 
 namespace pxsim.SoundMethods {
-    let numSoundsPlaying = 0;
-    const soundsLimit = 1;
     let audio: HTMLAudioElement;
 
     export function buffer(buf: RefBuffer) {
@@ -27,18 +25,15 @@ namespace pxsim.SoundMethods {
     }
 
     export function play(buf: RefBuffer, volume: number) {
-        if (!buf || numSoundsPlaying >= soundsLimit) {
+        if (!buf) {
             return Promise.resolve();
         }
         return new Promise<void>(resolve => {
             let url = "data:audio/wav;base64," + btoa(uint8ArrayToString(buf.data))
             audio = new Audio(url)
-            audio.onended = () => {
-                resolve();
-                numSoundsPlaying--;
-            }
-            numSoundsPlaying++;
-            audio.play()
+            audio.onended = () => resolve();
+            audio.onpause = () => resolve();
+            audio.play();
         })
     }
 
@@ -46,8 +41,8 @@ namespace pxsim.SoundMethods {
         return new Promise<void>(resolve => {
             if (audio) {
                 audio.pause();
-                numSoundsPlaying--;
             }
+            resolve();
         })
     }
 

sim/visuals/nodes/largeMotorView.ts

@@ -1,26 +1,47 @@
 /// <reference path="./moduleView.ts" />
+/// <reference path="./motorView.ts" />
 
 namespace pxsim.visuals {
-    export class LargeMotorView extends ModuleView implements LayoutElement {
-
-        private static ROTATING_ECLIPSE_ID = "hole";
+    export class LargeMotorView extends MotorView implements LayoutElement {
 
         constructor(port: number) {
-            super(LARGE_MOTOR_SVG, "large-motor", NodeType.LargeMotor, port);
+            super(LARGE_MOTOR_SVG, "large-motor", NodeType.LargeMotor, port, "hole");
         }
 
+        private syncedMotor: MotorNode;
+        private syncedLabelG: SVGGElement;
+
         updateState() {
             super.updateState();
             const motorState = ev3board().getMotors()[this.port];
             if (!motorState) return;
-            const speed = motorState.getSpeed();
 
-            if (!speed) return;
-            this.setMotorAngle(motorState.getAngle());
+            const syncedMotor = motorState.getSynchedMotor();
+            if ((syncedMotor || this.syncedMotor) && syncedMotor != this.syncedMotor) {
+                this.syncedMotor = syncedMotor;
+                this.showSyncedLabel(motorState, syncedMotor);
+            }
         }
 
-        private setMotorAngle(angle: number) {
-            const holeEl = this.content.getElementById(this.normalizeId(LargeMotorView.ROTATING_ECLIPSE_ID))
+        private showSyncedLabel(motorNode: MotorNode, syncedMotor: MotorNode) {
+            const a = String.fromCharCode('A'.charCodeAt(0) + motorNode.port);
+            const b = String.fromCharCode('A'.charCodeAt(0) + syncedMotor.port);
+
+            this.syncedLabelG = pxsim.svg.child(this.element, 'g', {'transform': 'scale(0.5)'}) as SVGGElement;
+            pxsim.svg.child(this.syncedLabelG, 'rect', {'rx': 15, 'ry': 15, 'x': 0, 'y': 0, 'width': 84, 'height': 34, 'fill': '#A8A9A8'});
+            pxsim.svg.child(this.syncedLabelG, 'circle', {'cx': 17, 'cy': 17, 'r': 15, 'fill': 'white'});
+            const leftLabel = pxsim.svg.child(this.syncedLabelG, 'text', {'transform': 'translate(11, 22)', 'style': 'isolation: isolate;font-size: 16px;fill: #A8A9A8;font-family: ArialMT, Arial'});
+            leftLabel.textContent = a;
+
+            pxsim.svg.child(this.syncedLabelG, 'rect', {'rx': 0, 'ry': 0, 'x': 37, 'y': 12, 'width': 10, 'height': 3, 'fill': '#ffffff'});
+            pxsim.svg.child(this.syncedLabelG, 'rect', {'rx': 0, 'ry': 0, 'x': 37, 'y': 18, 'width': 10, 'height': 3, 'fill': '#ffffff'});
+            
+            pxsim.svg.child(this.syncedLabelG, 'circle', {'cx': 67, 'cy': 17, 'r': 15, 'fill': 'white'});
+            const rightLabel = pxsim.svg.child(this.syncedLabelG, 'text', {'transform': 'translate(61, 22)', 'style': 'isolation: isolate;font-size: 16px;fill: #A8A9A8;font-family: ArialMT, Arial'});
+            rightLabel.textContent = b;
+        }
+
+        protected renderMotorAngle(holeEl: Element, angle: number) {
             const width = 125.92;
             const height = 37.9;
             const transform = `rotate(${angle} ${width / 2} ${height / 2})`;

sim/visuals/nodes/mediumMotorView.ts

@@ -2,35 +2,17 @@
 
 namespace pxsim.visuals {
 
-    export const MOTOR_ROTATION_FPS = 32;
-
-    export class MediumMotorView extends ModuleView implements LayoutElement {
-
-        private static ROTATING_ECLIPSE_ID = "medmotor_Hole";
-
-        private hasPreviousAngle: boolean;
-        private previousAngle: number;
+    export class MediumMotorView extends MotorView implements LayoutElement {
 
         constructor(port: number) {
-            super(MEDIUM_MOTOR_SVG, "medium-motor", NodeType.MediumMotor, port);
+            super(MEDIUM_MOTOR_SVG, "medium-motor", NodeType.MediumMotor, port, "medmotor_Hole");
         }
 
         public getPaddingRatio() {
             return 1 / 5;
         }
 
-        updateState() {
-            super.updateState();
-            const motorState = ev3board().getMotors()[this.port];
-            if (!motorState) return;
-            const speed = motorState.getSpeed();
-
-            if (!speed) return;
-            this.setMotorAngle(motorState.getAngle());
-        }
-
-        private setMotorAngle(angle: number) {
-            const holeEl = this.content.getElementById(this.normalizeId(MediumMotorView.ROTATING_ECLIPSE_ID))
+        protected renderMotorAngle(holeEl: Element, angle: number) {
             const width = 44.45;
             const height = 44.45;
             const transform = `translate(2 1.84) rotate(${angle} ${width / 2} ${height / 2})`;

sim/visuals/nodes/motorView.ts

@@ -0,0 +1,33 @@
+/// <reference path="./moduleView.ts" />
+
+namespace pxsim.visuals {
+    export abstract class MotorView extends ModuleView implements LayoutElement {
+
+        constructor(xml: string, prefix: string, id: NodeType, port: NodeType,
+            protected rotating_hole_id: string) {
+            super(xml, prefix, id, port);
+        }
+
+        updateState() {
+            super.updateState();
+            const motorState = ev3board().getMotors()[this.port];
+            if (!motorState) return;
+            const speed = motorState.getSpeed();
+
+            if (!speed) return;
+            this.setMotorAngle(motorState.getAngle());
+        }
+
+        private setMotorAngle(angle: number) {
+            const holeEl = this.content.getElementById(this.normalizeId(this.rotating_hole_id))
+            this.renderMotorAngle(holeEl, angle);
+        }
+
+        protected abstract renderMotorAngle(holeEl: Element, angle: number): void;
+
+
+        getWiringRatio() {
+            return 0.37;
+        }
+    }
+}

theme/site/elements/loader.overrides

@@ -1,3 +1,79 @@
 /*******************************
          Site Overrides
 *******************************/
+
+.ui.loader:before {
+   border: none;
+   border-radius: 0px;
+   box-shadow: none;
+   background: transparent @loaderBackImage no-repeat center center;
+   background-size: 100%;
+}
+
+.ui.loader:after {
+   border: none;
+   box-shadow: none;
+   border-radius: 0px;
+   margin: 40px auto;
+   background: transparent @loaderImage no-repeat center center;
+   background-size: 100%;
+  -webkit-animation: @loaderAnimation @loaderSpeed infinite linear;
+  animation: @loaderAnimation @loaderSpeed infinite linear;
+}
+
+.ui.loader.avatar:after {
+   border: none;
+   box-shadow: none;
+   border-radius: 0px;
+   margin: 40px auto;
+   background: transparent @avatarImage no-repeat center center;
+   background-size: 100%;
+  -webkit-animation: @loaderAnimation @loaderSpeed infinite linear;
+  animation: @loaderAnimation @loaderSpeed infinite linear;
+}
+
+@-webkit-keyframes loader-pxt-ev3 {
+  0% {
+    -webkit-transform: translateX(@loaderStartPoint);
+            transform: translateX(@loaderStartPoint);
+            }
+  20% {
+    -webkit-transform: translateX(-@loaderMiddlePoint);
+            transform: translateX(-@loaderMiddlePoint);
+            }
+  50% {
+    -webkit-transform: translateX(-@loaderEndPoint);
+            transform: translateX(-@loaderEndPoint);
+            }
+  75% {
+    -webkit-transform: translateX(-@loaderMiddlePoint);
+            transform: translateX(-@loaderMiddlePoint);
+            }
+  100% {
+    -webkit-transform: translateX(@loaderStartPoint);
+            transform: translateX(@loaderStartPoint);
+            }
+}
+
+@keyframes loader-pxt-ev3 {
+  0% {
+    -webkit-transform: translateX(@loaderStartPoint);
+            transform: translateX(@loaderStartPoint);
+            }
+  20% {
+    -webkit-transform: translateX(-@loaderMiddlePoint);
+            transform: translateX(-@loaderMiddlePoint);
+            }
+  50% {
+    -webkit-transform: translateX(-@loaderEndPoint);
+            transform: translateX(-@loaderEndPoint);
+            }
+  75% {
+    -webkit-transform: translateX(-@loaderMiddlePoint);
+            transform: translateX(-@loaderMiddlePoint);
+            }
+  100% {
+    -webkit-transform: translateX(@loaderStartPoint);
+            transform: translateX(@loaderStartPoint);
+            }
+}

theme/site/elements/loader.variables

@@ -1,3 +1,19 @@
 /*******************************
     User Variable Overrides
 *******************************/
+
+@loaderBackImageUrl: "../docs/static/loader_back.svg";
+@loaderBackImage: data-uri(@loaderBackImageUrl);
+
+@loaderImageUrl: "../docs/static/loader_front.svg";
+@loaderImage: data-uri(@loaderImageUrl);
+
+@loaderSpeed: 2s;
+
+@loaderStartPoint: 0px;
+@loaderMiddlePoint: 14px;
+@loaderEndPoint: 28px;
+
+@loaderAnimation: loader-pxt-ev3;
+
+@large   : 200px;