0.0.56

shuffling motor blocks

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/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?73552ec404b3a3d3769a3f04fa58c2c4?#iefix") format("embedded-opentype"),
-url("iconfont.woff2?73552ec404b3a3d3769a3f04fa58c2c4") format("woff2"),
-url("iconfont.woff?73552ec404b3a3d3769a3f04fa58c2c4") format("woff");
+	src: url("iconfont.eot?8b7e57577c2d1f1ae9e810b9e010bc84?#iefix") format("embedded-opentype"),
+url("iconfont.woff2?8b7e57577c2d1f1ae9e810b9e010bc84") format("woff2"),
+url("iconfont.woff?8b7e57577c2d1f1ae9e810b9e010bc84") format("woff");
 }
 
 .icon {
@@ -67,24 +67,27 @@ url("iconfont.woff?73552ec404b3a3d3769a3f04fa58c2c4") format("woff");
 .icon-variables:before {
 	content: "\f111";
 }
-.icon-advancedcollapsed:before {
+.icon-console:before {
 	content: "\f112";
 }
-.icon-advancedexpanded:before {
+.icon-advancedcollapsed:before {
 	content: "\f113";
 }
-.icon-cancel:before {
+.icon-advancedexpanded:before {
 	content: "\f114";
 }
-.icon-check:before {
+.icon-cancel:before {
 	content: "\f115";
 }
-.icon-download:before {
+.icon-check:before {
 	content: "\f116";
 }
-.icon-save:before {
+.icon-download:before {
 	content: "\f117";
 }
-.icon-blocks:before {
+.icon-save:before {
 	content: "\f118";
 }
+.icon-blocks:before {
+	content: "\f119";
+}

docs/static/fonts/icons/iconfont.svg

@@ -58,26 +58,29 @@
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       unicode="&#xF111;"
       horiz-adv-x="40" d=" M36.8 12V7.8H3.4V12H36.8z M36.8 22.1V17.9H3.4V22.1H36.8z M36.7 32.2V28H3.3V32.2H36.7z" />
-    <glyph glyph-name="advancedcollapsed"
+    <glyph glyph-name="console"
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+    <glyph glyph-name="advancedcollapsed"
+      unicode="&#xF113;"
       horiz-adv-x="40" d=" M39.7 28.2L36.2 31.5L20 15.3L3.8 31.5L0.3 28.2L18.3 10.3L18.3 10.3L20 8.5L20.5 9L20.5 9z" />
     <glyph glyph-name="advancedexpanded"
-      unicode="&#xF113;"
+      unicode="&#xF114;"
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     <glyph glyph-name="check"
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+      unicode="&#xF116;"
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-      unicode="&#xF117;"
+      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="&#xF118;"
+      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>

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)

editor/extension.ts

@@ -4,8 +4,10 @@
 import { deployCoreAsync, initAsync } from "./deploy";
 import { FieldPorts } from "./field_ports";
 import { FieldImages } from "./field_images";
+import {FieldSpeed} from "./field_speed";
+import { FieldBrickButtons } from "./field_brickbuttons";
 
-pxt.editor.initExtensionsAsync = function(opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
+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 = {
@@ -15,6 +17,12 @@ pxt.editor.initExtensionsAsync = function(opts: pxt.editor.ExtensionOptions): Pr
         }, {
             selector: "images",
             editor: FieldImages
+        }, {
+            selector: "speed",
+            editor: FieldSpeed
+        }, {
+            selector: "brickbuttons",
+            editor: FieldBrickButtons
         }],
         deployCoreAsync
     };
@@ -111,6 +119,20 @@ function updateBlocklyShape() {
         'l ' + 0 + ',' + (Blockly.BlockSvg as any).CORNER_RADIUS * 2 +
         'l ' + (Blockly.BlockSvg as any).CORNER_RADIUS + ',' + 0;
 
+    /**
+     * Corner radius of the flyout background.
+     * @type {number}
+     * @const
+     */
+    (Blockly as any).Flyout.prototype.CORNER_RADIUS = 0;
+
+    /**
+     * Margin around the edges of the blocks in the flyout.
+     * @type {number}
+     * @const
+     */
+    (Blockly as any).Flyout.prototype.MARGIN = 8;
+
 }
 
 // When require()d from node, bind the global pxt namespace

editor/field_brickbuttons.ts

@@ -0,0 +1,159 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldPortsOptions extends Blockly.FieldCustomDropdownOptions {
+    columns?: string;
+    width?: string;
+}
+
+export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    // Width in pixels
+    private width_: number;
+
+    // Columns in grid
+    private columns_: number;
+
+    private savedPrimary_: string;
+
+    constructor(text: string, options: FieldPortsOptions, validator?: Function) {
+        super(options.data);
+
+        this.columns_ = parseInt(options.columns) || 4;
+        this.width_ = parseInt(options.width) || 150;
+    }
+
+    /**
+     * Create a dropdown menu under the text.
+     * @private
+     */
+    public showEditor_() {
+        // If there is an existing drop-down we own, this is a request to hide the drop-down.
+        if (Blockly.DropDownDiv.hideIfOwner(this)) {
+            return;
+        }
+        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
+        Blockly.DropDownDiv.hideWithoutAnimation();
+        Blockly.DropDownDiv.clearContent();
+        // Populate the drop-down with the icons for this field.
+        let dropdownDiv = Blockly.DropDownDiv.getContentDiv();
+        let contentDiv = document.createElement('div');
+        // Accessibility properties
+        contentDiv.setAttribute('role', 'menu');
+        contentDiv.setAttribute('aria-haspopup', 'true');
+
+        const buttonsSVG = document.createElementNS("http://www.w3.org/2000/svg", "svg") as SVGGElement;
+        pxsim.svg.hydrate(buttonsSVG, {
+            viewBox: "0 0 256.68237 256.68237",
+            width: this.width_,
+            height: this.width_
+        });
+        contentDiv.appendChild(buttonsSVG);
+
+        const gWrapper = pxsim.svg.child(buttonsSVG, 'g', { 'transform': 'translate(-4.695057,58.29823)' });
+        const gInnerWrapper = pxsim.svg.child(gWrapper, 'g', { 'transform': 'translate(3.9780427e-6,-32.677281)' });
+
+        const back = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#6a6a6a;stroke-width:3.91719985',
+            d: 'M 106.30882,198.38022 C 84.431262,177.26258 50.453467,142.52878 50.453467,142.52878 v -7.12931 H 37.087971 a 32.381533,32.381533 0 1 1 0,-64.763062 H 50.457376 V 63.503186 L 105.71731,7.0563355 h 55.25604 c 25.02699,25.5048885 55.25994,55.2599395 55.25994,55.2599395 v 8.320133 h 12.77398 a 32.381533,32.381533 0 0 1 0,64.763062 h -12.77398 v 7.13323 c -29.43384,30.27603 -54.66454,55.85144 -54.66454,55.85144 z'
+        })
+
+        const buttonLeft = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'm 36.492567,78.357208 h 40.69971 V 126.48393 H 36.492567 A 24.063359,24.063359 0 0 1 12.429199,102.42057 v 0 A 24.063359,24.063359 0 0 1 36.492567,78.357208 Z'
+        })
+
+        const buttonRight = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'M 229.00727,126.48784 H 188.30756 V 78.361126 h 40.69971 a 24.063359,24.063359 0 0 1 24.06335,24.063354 v 0 a 24.063359,24.063359 0 0 1 -24.06335,24.06336 z'
+        })
+
+        const buttonEnter = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#3c3c3c;stroke-width:3.91719985',
+            d: 'm 109.27806,78.357208 h 46.9398 a 1.782326,1.782326 0 0 1 1.78233,1.782326 V 124.7016 a 1.782326,1.782326 0 0 1 -1.78233,1.78233 h -46.9398 a 1.782326,1.782326 0 0 1 -1.78233,-1.78233 V 80.139534 a 1.782326,1.782326 0 0 1 1.78233,-1.782326 z'
+        })
+
+        const buttonTop = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'm 108.09114,15.967966 49.90905,-0.59542 37.43276,38.619675 -15.44943,15.449437 V 97.367379 H 165.7249 V 81.306861 A 11.978797,11.978797 0 0 0 153.84012,69.422075 c -11.59883,-0.184102 -43.37516,0 -43.37516,0 A 9.6676495,9.6676495 0 0 0 100.36251,79.520618 V 97.347793 H 86.103905 V 69.422075 L 70.654464,53.97264 Z'
+        })
+
+        const buttonBottom = pxsim.svg.child(gInnerWrapper, 'path', {
+            style: 'fill:#a8a9a8;stroke-width:3.91719985',
+            d: 'M 157.78865,189.01028 108.18908,189.38233 70.654464,150.794 86.323259,135.4895 v -28.08625 h 14.101921 v 16.11144 a 12.006218,12.006218 0 0 0 11.85346,11.9788 c 11.59882,0.1841 43.13227,0 43.13227,0 a 10.18472,10.18472 0 0 0 10.38059,-10.38058 v -17.70966 h 14.39179 v 28.08632 l 15.3045,15.3045 z'
+        })
+
+        const buttons = [buttonEnter, buttonLeft, buttonRight, buttonTop, buttonBottom];
+        const options = this.getOptions();
+        for (let i = 0, option: any; option = options[i]; i++) {
+            let content = (options[i] as any)[0]; // Human-readable text or image.
+            const value = (options[i] as any)[1]; // Language-neutral value.
+            const button = buttons[i];
+            button.setAttribute('id', ':' + i); // For aria-activedescendant
+            button.setAttribute('role', 'menuitem');
+            button.setAttribute('cursor', 'pointer');
+            const title = pxsim.svg.child(button, 'title');
+            title.textContent = content;
+
+            Blockly.bindEvent_(button, 'click', this, this.buttonClick_);
+            Blockly.bindEvent_(button, 'mouseup', this, this.buttonClick_);
+            // These are applied manually instead of using the :hover pseudoclass
+            // because Android has a bad long press "helper" menu and green highlight
+            // that we must prevent with ontouchstart preventDefault
+            Blockly.bindEvent_(button, 'mousedown', button, function (e) {
+                this.setAttribute('stroke', '#ffffff');
+                e.preventDefault();
+            });
+            Blockly.bindEvent_(button, 'mouseover', button, function () {
+                this.setAttribute('stroke', '#ffffff');
+            });
+            Blockly.bindEvent_(button, 'mouseout', button, function () {
+                this.setAttribute('stroke', 'transparent');
+            });
+
+            button.setAttribute('data-value', value);
+        }
+
+        contentDiv.style.width = this.width_ + 'px';
+        dropdownDiv.appendChild(contentDiv);
+
+        Blockly.DropDownDiv.setColour('#ffffff', '#dddddd');
+
+        // Calculate positioning based on the field position.
+        var scale = this.sourceBlock_.workspace.scale;
+        var bBox = { width: this.size_.width, height: this.size_.height };
+        bBox.width *= scale;
+        bBox.height *= scale;
+        var position = this.fieldGroup_.getBoundingClientRect();
+        var primaryX = position.left + bBox.width / 2;
+        var primaryY = position.top + bBox.height;
+        var secondaryX = primaryX;
+        var secondaryY = position.top;
+        // Set bounds to workspace; show the drop-down.
+        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
+            this.onHide_.bind(this));
+    }
+
+    /**
+     * Callback for when a button is clicked inside the drop-down.
+     * Should be bound to the FieldIconMenu.
+     * @param {Event} e DOM event for the click/touch
+     * @private
+     */
+    private buttonClick_ = function (e: any) {
+        let value = e.target.getAttribute('data-value');
+        this.setValue(value);
+        Blockly.DropDownDiv.hide();
+    };
+
+    /**
+     * Callback for when the drop-down is hidden.
+     */
+    private onHide_ = function () {
+        Blockly.DropDownDiv.content_.removeAttribute('role');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
+        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
+    };
+}

editor/field_speed.ts

@@ -0,0 +1,96 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldSpeedOptions extends Blockly.FieldCustomOptions {
+    min?: string;
+    max?: string;
+    label?: string;
+}
+
+export class FieldSpeed extends Blockly.FieldSlider implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    private params: any;
+
+    private speedSVG: SVGElement;
+    private circleBar: SVGCircleElement;
+    private reporter: SVGTextElement;
+
+    /**
+     * Class for a color wheel field.
+     * @param {number|string} value The initial content of the field.
+     * @param {Function=} opt_validator An optional function that is called
+     *     to validate any constraints on what the user entered.  Takes the new
+     *     text as an argument and returns either the accepted text, a replacement
+     *     text, or null to abort the change.
+     * @extends {Blockly.FieldNumber}
+     * @constructor
+     */
+    constructor(value_: any, params: FieldSpeedOptions, opt_validator?: Function) {
+        super(String(value_), '-100', '100', null, '10', 'Speed', opt_validator);
+        this.params = params;
+        if (this.params['min']) this.min_ = parseFloat(this.params.min);
+        if (this.params['max']) this.max_ = parseFloat(this.params.max);
+        if (this.params['label']) this.labelText_ = this.params.label;
+
+        (this as any).sliderColor_ = '#a8aaa8';
+    }
+
+    createLabelDom_(labelText: string) {
+        var labelContainer = document.createElement('div');
+        this.speedSVG = document.createElementNS("http://www.w3.org/2000/svg", "svg") as SVGGElement;
+        pxsim.svg.hydrate(this.speedSVG, {
+            viewBox: "0 0 200 100"
+        });
+
+        labelContainer.appendChild(this.speedSVG);
+
+        const outerCircle = pxsim.svg.child(this.speedSVG, "circle", {
+            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
+            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
+            'stroke': '#a8aaa8', 'stroke-width': '1rem'
+        }) as SVGCircleElement;
+        this.circleBar = pxsim.svg.child(this.speedSVG, "circle", {
+            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
+            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
+            'stroke': '#f12a21', 'stroke-width': '1rem'
+        }) as SVGCircleElement;
+
+        this.reporter = pxsim.svg.child(this.speedSVG, "text", {
+            'x': 100, 'y': 80,
+            'text-anchor': 'middle', 'alignment-baseline': 'middle',
+            'style': 'font-size: 50px',
+            'class': 'sim-text inverted number'
+        }) as SVGTextElement;
+
+        // labelContainer.setAttribute('class', 'blocklyFieldSliderLabel');
+        var readout = document.createElement('span');
+        readout.setAttribute('class', 'blocklyFieldSliderReadout');
+        // var label = document.createElement('span');
+        // label.setAttribute('class', 'blocklyFieldSliderLabelText');
+        // label.innerHTML = labelText;
+        // labelContainer.appendChild(label);
+        // labelContainer.appendChild(readout);
+        return [labelContainer, readout];
+    };
+
+    setReadout_(readout: Element, value: string) {
+        this.updateSpeed(parseFloat(value));
+        // Update reporter
+        this.reporter.textContent = `${value}%`;
+    }
+
+    private updateSpeed(speed: number) {
+        let sign = this.sign(speed);
+        speed = (Math.abs(speed) / 100 * 50) + 50;
+        if (sign == -1) speed = 50 - speed;
+        let c = Math.PI * (90 * 2);
+        let pct = ((100 - speed) / 100) * c;
+        this.circleBar.setAttribute('stroke-dashoffset', `${pct}`);
+    }
+
+    // A re-implementation of Math.sign (since IE11 doesn't support it)
+    private sign(num: number) {
+        return num ? num < 0 ? -1 : 1 : 0;
+    }
+}

libs/behaviors/_locales/behaviors-strings.json

@@ -1,7 +1,7 @@
 {
   "behaviors.addBehavior|block": "add behavior %behavior",
   "behaviors.avoidCrash|block": "avoid crash using %ultrasonic",
-  "behaviors.driveForward|block": "drive %motors|forward at %speed|%",
+  "behaviors.driveForward|block": "drive %motors|forward at %speed=motorSpeedPicker|%",
   "behaviors|block": "behaviors",
   "{id:category}Behaviors": "Behaviors"
 }

libs/behaviors/targetoverrides.ts

@@ -49,7 +49,7 @@ namespace behaviors {
      * @param motors 
      * @param speed the desired speed, eg: 50
      */
-    //% blockId=behaviorsDriveForward block="drive %motors|forward at %speed|%"
+    //% blockId=behaviorsDriveForward block="drive %motors|forward at %speed=motorSpeedPicker|%"
     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/_locales/color-sensor-strings.json

@@ -18,7 +18,7 @@
   "sensors.ColorSensor.onColorDetected|block": "on %sensor|detected color %color",
   "sensors.ColorSensor.onLightChanged|block": "on %sensor|%mode|%condition",
   "sensors.ColorSensor.pauseForColor|block": "pause %sensor|for color %color",
-  "sensors.ColorSensor.pauseForLight|block": "pause %sensor|for %mode|light %condition",
+  "sensors.ColorSensor.pauseForLight|block": "pause %sensor|for %mode|%condition",
   "sensors.color1|block": "color 1",
   "sensors.color2|block": "color 2",
   "sensors.color3|block": "color 3",

libs/color-sensor/color.ts

@@ -182,7 +182,7 @@ namespace sensors {
          * @param color the color to detect
          */
         //% help=sensors/color-sensor/pause-for-light
-        //% block="pause %sensor|for %mode|light %condition"
+        //% block="pause %sensor|for %mode|%condition"
         //% blockId=colorPauseForLight
         //% parts="colorsensor"
         //% blockNamespace=sensors
@@ -223,15 +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.",
@@ -29,14 +30,20 @@
   "brick.clearScreen": "Clears the screen",
   "brick.lightPattern": "Pattern block.",
   "brick.lightPattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
-  "brick.printLine": "Show text on the screen at a specific line.",
-  "brick.printLine|param|line": "the line number to print the text at, eg: 0",
-  "brick.printLine|param|text": "the text to print on the screen, eg: \"Hello world\"",
   "brick.printPorts": "Prints the port states on the screen",
   "brick.setLight": "Set lights.",
   "brick.setLight|param|pattern": "the lights pattern to use.",
   "brick.showImage": "Shows an image on screen",
   "brick.showImage|param|image": "image to draw",
+  "brick.showNumber": "Shows a number on the screen",
+  "brick.showNumber|param|line": "the line number to print the text at, eg: 1",
+  "brick.showNumber|param|value": "the numeric value",
+  "brick.showString": "Show text on the screen at a specific line.",
+  "brick.showString|param|line": "the line number to print the text at, eg: 1",
+  "brick.showString|param|text": "the text to print on the screen, eg: \"Hello world\"",
+  "brick.showValue": "Shows a name, value pair on the screen",
+  "brick.showValue|param|line": "the line number to print the text at, eg: 1",
+  "brick.showValue|param|value": "the numeric value",
   "console": "Reading and writing data to the console output.\n\nReading and writing data to the console output.",
   "console.addListener": "Adds a listener for the log messages",
   "console.log": "Write a line of text to the console output.",
@@ -58,10 +65,6 @@
   "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).",
@@ -69,23 +72,28 @@
   "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",
@@ -35,10 +37,12 @@
   "brick.buttonUp|block": "up",
   "brick.clearScreen|block": "clear screen",
   "brick.lightPattern|block": "%pattern",
-  "brick.printLine|block": "print %text| at line %line",
   "brick.printPorts|block": "print ports",
   "brick.setLight|block": "set light to %pattern=led_pattern",
   "brick.showImage|block": "show image %image=screen_image_picker",
+  "brick.showNumber|block": "show number %name|at line %line",
+  "brick.showString|block": "show string %text|at line %line",
+  "brick.showValue|block": "show value %name|= %text|at line %line",
   "brick|block": "brick",
   "console.logValue|block": "console|log value %name|= %value",
   "console.log|block": "console|log %text",
@@ -50,14 +54,15 @@
   "motors.Motor.clearCounts|block": "%motor|clear counts",
   "motors.Motor.speed|block": "%motor|speed",
   "motors.Motor.tacho|block": "%motor|tacho",
-  "motors.MotorBase.move|block": "move %motor|for %value|%unit|at %speed|%",
   "motors.MotorBase.pauseUntilReady|block": "%motor|pause until ready",
   "motors.MotorBase.setBrake|block": "set %motor|brake %brake",
   "motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
-  "motors.MotorBase.setSpeed|block": "set speed of %motor|to %speed|%",
-  "motors.SynchedMotorPair.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
-  "motors.SynchedMotorPair.steer|block": "steer %chassis turn by|%turnRatio|at speed %speed|%|for %value|%unit",
-  "motors.SynchedMotorPair.tank|block": "tank %chassis|left %speedLeft|%|right %speedRight|%|for %value|%unit",
+  "motors.MotorBase.setSpeedFor|block": "set %motor|speed to %speed=motorSpeedPicker|%|for %value|%unit",
+  "motors.MotorBase.setSpeed|block": "set %motor|speed to %speed=motorSpeedPicker|%",
+  "motors.SynchedMotorPair.steerFor|block": "steer %chassis|turn ratio %turnRatio|speed %speed=motorSpeedPicker|%|for %value|%unit",
+  "motors.SynchedMotorPair.steer|block": "steer %chassis|turn ratio %turnRatio|speed %speed=motorSpeedPicker|%",
+  "motors.SynchedMotorPair.tankFor|block": "tank %motors|%speedLeft=motorSpeedPicker|%|%speedRight=motorSpeedPicker|%|for %value|%unit",
+  "motors.SynchedMotorPair.tank|block": "tank %motors|%speedLeft=motorSpeedPicker|%|%speedRight=motorSpeedPicker|%",
   "motors.largeAB|block": "large A+B",
   "motors.largeAD|block": "large A+D",
   "motors.largeA|block": "large A",
@@ -87,9 +92,11 @@
   "{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}Motion": "Motion",
+  "{id:group}Measured Move": "Measured Move",
+  "{id:group}More": "More",
+  "{id:group}Move": "Move",
   "{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

@@ -92,6 +92,7 @@ namespace brick {
         //% blockNamespace=brick
         //% weight=81 blockGap=8
         //% group="Buttons"
+        //% button.fieldEditor="brickbuttons"
         isPressed() {
             return this._isPressed
         }
@@ -107,6 +108,7 @@ namespace brick {
         //% blockNamespace=brick
         //% weight=80
         //% group="Buttons"
+        //% button.fieldEditor="brickbuttons"
         wasPressed() {
             const r = this._wasPressed
             this._wasPressed = false
@@ -125,6 +127,7 @@ namespace brick {
         //% blockNamespace=brick
         //% weight=99 blockGap=8
         //% group="Buttons"
+        //% button.fieldEditor="brickbuttons"
         onEvent(ev: ButtonEvent, body: () => void) {
             control.onEvent(this._id, ev, body)
         }
@@ -139,6 +142,7 @@ namespace brick {
         //% blockNamespace=brick
         //% weight=98 blockGap=8
         //% group="Buttons"
+        //% button.fieldEditor="brickbuttons"
         pauseUntil(ev: ButtonEvent) {
             control.waitForEvent(this._id, ev);
         }
@@ -163,6 +167,11 @@ 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 +181,6 @@ 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 +195,7 @@ namespace brick {
             initBtns()
             buttons.push(this)
         }
-    }
+    }    
 
     initBtns() // always ON as it handles ESCAPE button
 
@@ -229,6 +236,7 @@ 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/linux.cpp

@@ -483,7 +483,15 @@ void runLMS() {
     */
 }
 
+void stopMotors() {
+    uint8_t cmd[2] = { 0xA3, 0x0F };
+    int fd = open("/dev/lms_pwm", O_RDWR);
+    write(fd, cmd, 2);
+    close(fd);
+}
+
 extern "C" void target_reset() {
+    stopMotors();
     if (lmsPid)
         runLMS();
     else

libs/core/ns.ts

@@ -1 +1,14 @@
 
+namespace motors {
+
+    /**
+     * A speed picker
+     * @param speed the speed, eg: 50
+     */
+    //% blockId=motorSpeedPicker block="%speed" shim=TD_ID
+    //% speed.fieldEditor="speed" colorSecondary="#FFFFFF"
+    //% weight=0 blockHidden=1 speed.fieldOptions.decompileLiterals=1
+    export function __speedPicker(speed: number): number {
+        return speed;
+    }
+}

libs/core/output.ts

@@ -30,6 +30,8 @@ enum MoveUnit {
     Rotations,
     //% block="degrees"
     Degrees,
+    //% block="seconds"
+    Seconds,
     //% block="milliseconds"
     MilliSeconds
 }
@@ -110,7 +112,7 @@ namespace motors {
      */
     //% blockId=motorStopAll block="stop all motors"
     //% weight=5
-    //% group="Motion"
+    //% group="Move"
     export function stopAllMotors() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
         writePWM(b)
@@ -119,7 +121,7 @@ namespace motors {
     /**
      * Resets all motors
      */
-    //% group="Motion"
+    //% group="Move"
     export function resetAllMotors() {
         reset(Output.ALL)
     }
@@ -162,7 +164,7 @@ namespace motors {
         //% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake"
         //% brake.fieldEditor=toggleonoff
         //% weight=60 blockGap=8
-        //% group="Motion"
+        //% group="Move"
         setBrake(brake: boolean) {
             this.init();
             this._brake = brake;
@@ -174,7 +176,7 @@ namespace motors {
         //% blockId=motorSetReversed block="set %motor|reversed %reversed"
         //% reversed.fieldEditor=toggleonoff
         //% weight=59
-        //% group="Motion"
+        //% group="Move"
         setReversed(reversed: boolean) {
             this.init();
             const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
@@ -204,11 +206,10 @@ 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=motorSpeedPicker|%"
         //% on.fieldEditor=toggleonoff
         //% weight=99 blockGap=8
-        //% speed.min=-100 speed.max=100
-        //% group="Motion"
+        //% group="Move"
         setSpeed(speed: number) {
             this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
@@ -219,16 +220,15 @@ 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=motorSpeedPicker|%|for %value|%unit"
         //% weight=98 blockGap=8
-        //% speed.min=-100 speed.max=100    
-        //% group="Motion"
-        move(value: number, unit: MoveUnit, speed: number) {
+        //% group="Measured Move"
+        setSpeedFor(speed: number, value: number, unit: MoveUnit) {
             this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) {
@@ -246,6 +246,10 @@ namespace motors {
                     stepsOrTime = value >> 0;
                     useSteps = true;
                     break;
+                case MoveUnit.Seconds:
+                    stepsOrTime = (value * 1000) >> 0;
+                    useSteps = false;
+                    break;
                 default:
                     stepsOrTime = value;
                     useSteps = false;
@@ -264,13 +268,7 @@ namespace motors {
             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;
         }
 
         /**
@@ -278,8 +276,8 @@ namespace motors {
          * @param timeOut optional maximum pausing time in milliseconds
          */
         //% blockId=motorPauseUntilRead block="%motor|pause until ready"
-        //% weight=97
-        //% group="Motion"
+        //% weight=90
+        //% group="Move"
         pauseUntilReady(timeOut?: number) {
             pauseUntil(() => this.isReady(), timeOut);
         }
@@ -333,7 +331,7 @@ namespace motors {
         //% blockId=motorSpeed block="%motor|speed"
         //% weight=72 
         //% blockGap=8
-        //% group="Sensors"
+        //% group="Counters"
         speed(): number {
             this.init();
             return getMotorData(this._port).actualSpeed;
@@ -345,7 +343,8 @@ namespace motors {
          */
         //% blockId=motorAngle block="%motor|angle"
         //% weight=70
-        //% group="Sensors"
+        //% blockGap=8
+        //% group="Counters"
         angle(): number {
             this.init();
             return getMotorData(this._port).count;
@@ -359,7 +358,7 @@ namespace motors {
         //% blockId=motorTachoCount block="%motor|tacho"
         //% weight=69
         //% blockGap=8
-        //% group="Sensors"
+        //% group="Counters"
         tacho(): number {
             this.init();
             return getMotorData(this._port).tachoCount;
@@ -371,7 +370,7 @@ namespace motors {
         //% blockId=motorClearCount block="%motor|clear counts"
         //% weight=68
         //% blockGap=8
-        //% group="Sensors"
+        //% group="Counters"
         clearCounts() {
             this.init();
             const b = mkCmd(this._port, DAL.opOutputClearCount, 0)
@@ -418,13 +417,9 @@ 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();
         }
 
@@ -445,7 +440,7 @@ namespace motors {
         private __setSpeed(speed: number) {
             syncMotors(this._port, {
                 speed: speed,
-                turnRatio: 100, // same speed
+                turnRatio: 0, // same speed
                 useBrake: !!this._brake
             })
         }
@@ -454,30 +449,45 @@ 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=motorSpeedPicker|%|%speedRight=motorSpeedPicker|%"
+        //% weight=96 blockGap=8
+        //% group="Move"
+        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
-        //% speedLeft.min=-100 speedLeft=100
-        //% speedRight.min=-100 speedRight=100
+        //% blockId=motorPairTankFor block="tank %motors|%speedLeft=motorSpeedPicker|%|%speedRight=motorSpeedPicker|%|for %value|%unit"
+        //% weight=19 blockGap=8
         //% inlineInputMode=inline
-        //% group="Chassis"
-        tank(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
+        //% group="Measured Move"
+        tankFor(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
             this.init();
 
             speedLeft = Math.clamp(-100, 100, speedLeft >> 0);
@@ -487,43 +497,11 @@ 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
@@ -531,12 +509,28 @@ 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"
-        //% weight=6 blockGap=8
+        //% blockId=motorPairSteer block="steer %chassis|turn ratio %turnRatio|speed %speed=motorSpeedPicker|%"
+        //% weight=95
         //% turnRatio.min=-200 turnRatio=200
         //% inlineInputMode=inline
-        //% group="Chassis"
-        steer(turnRatio: number, speed: number, value: number, unit: MoveUnit) {
+        //% group="Move"
+        steer(turnRatio: number, speed: number) {
+            this.steerFor(turnRatio, speed, 0, MoveUnit.Rotations);
+        }
+
+        /**
+         * 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=motorSpeedPicker|%|for %value|%unit"
+        //% weight=6
+        //% turnRatio.min=-200 turnRatio=200
+        //% inlineInputMode=inline
+        //% group="Measured Move"
+        steerFor(turnRatio: number, speed: number, value: number, unit: MoveUnit) {
             this.init();
             speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) {
@@ -556,6 +550,10 @@ namespace motors {
                     stepsOrTime = value >> 0;
                     useSteps = true;
                     break;
+                case MoveUnit.Seconds:
+                    stepsOrTime = (value * 1000) >> 0;
+                    useSteps = false;
+                    break;
                 default:
                     stepsOrTime = value >> 0;
                     useSteps = false;
@@ -569,17 +567,6 @@ 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

@@ -90,18 +90,42 @@ namespace brick {
     /**
      * Show text on the screen at a specific line.
      * @param text the text to print on the screen, eg: "Hello world"
-     * @param line the line number to print the text at, eg: 0
+     * @param line the line number to print the text at, eg: 1
      */
-    //% blockId=screen_print block="print %text| at line %line"
+    //% blockId=screen_print block="show string %text|at line %line"
     //% weight=98 group="Screen" inlineInputMode="inline" blockGap=8
-    //% line.min=0 line.max=9
-    export function printLine(text: string, line: number) {
+    //% line.min=1 line.max=10
+    export function showString(text: string, line: number) {
         const NUM_LINES = 9;
         const offset = 5;
-        const y = offset + (Math.clamp(0, NUM_LINES, line) / (NUM_LINES + 2)) * DAL.LCD_HEIGHT;
+        const y = offset + (Math.clamp(0, NUM_LINES, line - 1) / (NUM_LINES + 2)) * DAL.LCD_HEIGHT;
         brick.print(text, offset, y);
     }
 
+    /**
+     * Shows a number on the screen
+     * @param value the numeric value
+     * @param line the line number to print the text at, eg: 1
+     */
+    //% blockId=screenShowNumber block="show number %name|at line %line"
+    //% weight=96 group="Screen" inlineInputMode="inline" blockGap=8
+    //% line.min=1 line.max=10
+    export function showNumber(value: number, line: number) {
+        showString("" + value, line);
+    }
+
+    /**
+     * Shows a name, value pair on the screen
+     * @param value the numeric value
+     * @param line the line number to print the text at, eg: 1
+     */
+    //% blockId=screenShowValue block="show value %name|= %text|at line %line"
+    //% weight=96 group="Screen" inlineInputMode="inline" blockGap=8
+    //% line.min=1 line.max=10
+    export function showValue(name: string, value: number, line: number) {
+        showString((name ? name + ": " : "") + value, line);        
+    }
+
     export function print(text: string, x: number, y: number, mode = Draw.Normal) {
         x |= 0
         y |= 0
@@ -223,9 +247,6 @@ namespace brick {
             const x = i * 52;
             print(`${data.actualSpeed}%`, x, brick.LINE_HEIGHT)
             print(`${data.count}>`, x, 2 * brick.LINE_HEIGHT)
-
-            console.logValue(`speed.` + "ABCD"[i], data.actualSpeed);
-            console.logValue(`angle.` + "ABCD"[i], data.count);
         }
 
         // sensors
@@ -235,8 +256,6 @@ namespace brick {
             const x = (si.port() - 1) * 52;
             const v = si._query();
             print(`${v}`, x, 9 * brick.LINE_HEIGHT)
-
-            console.logValue(`sensor.` + si.port(), v);
         }
     }
 }

libs/ev3/ns.ts

@@ -14,11 +14,16 @@ namespace sensors {
 }
 
 //% color="#A5CA18" weight=90 icon="\uf10d"
-//% groups='["Motion", "Sensors", "Chassis"]'
+//% groups='["Move", "Counters", "Measured Move"]'
 //% labelLineWidth=0
 namespace motors {
 }
 
+//% labelLineWidth=0
+namespace chassis {
+
+}
+
 //% labelLineWidth=0
 namespace behaviors {
 }

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/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

@@ -102,11 +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)
 }

libs/ultrasonic-sensor/ultrasonic.ts

@@ -86,6 +86,9 @@ namespace sensors {
             return this._query();
         }
     }
+  
+    //% fixedInstance whenUsed block="ultrasonic 4" jres=icons.port4
+    export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
     
     //% fixedInstance whenUsed block="ultrasonic 1" jres=icons.port1
     export const ultrasonic1: UltraSonicSensor = new UltraSonicSensor(1)
@@ -95,7 +98,4 @@ namespace sensors {
 
     //% fixedInstance whenUsed block="ultrasonic 3" jres=icons.port3
     export const ultrasonic3: UltraSonicSensor = new UltraSonicSensor(3)
-  
-    //% fixedInstance whenUsed block="ultrasonic 4" jres=icons.port4
-    export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
 }

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.52",
+  "version": "0.0.56",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [
@@ -44,7 +44,7 @@
     "webfonts-generator": "^0.4.0"
   },
   "dependencies": {
-    "pxt-common-packages": "0.15.3",
+    "pxt-common-packages": "0.15.4",
     "pxt-core": "3.0.5"
   },
   "scripts": {

pxtarget.json

@@ -15,6 +15,7 @@
         "libs/ultrasonic-sensor",
         "libs/infrared-sensor",
         "libs/gyro-sensor",
+        "libs/chassis",
         "libs/ev3",
         "libs/tests",
         "libs/behaviors"

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

@@ -15,13 +15,17 @@ namespace pxsim {
         private speedCmdValues: number[];
         private speedCmdTacho: number;
         private speedCmdTime: number;
-        private _synchedMotor: MotorNode; // non-null if master motor
+        private _synchedMotor: MotorNode; // non-null if synchronized
 
         constructor(port: number, large: boolean) {
             super(port);
             this.setLarge(large);
         }
 
+        isReady() {
+            return !this.speedCmd;
+        }
+
         getSpeed() {
             return this.speed * (this.polarity == 0 ? -1 : 1);
         }
@@ -50,6 +54,7 @@ namespace pxsim {
 
         clearSpeedCmd() {
             delete this.speedCmd;
+            delete this.speedCmdValues;
             delete this._synchedMotor;
         }
 
@@ -88,7 +93,7 @@ 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) {
@@ -135,10 +140,10 @@ namespace pxsim {
                 }
                 case DAL.opOutputStepSync:
                 case DAL.opOutputTimeSync: {
-                    if (!this._synchedMotor) // handled in other motor code
+                    const otherMotor = this._synchedMotor;
+                    if (otherMotor.port < this.port) // handled in other motor code
                         break;
 
-                    const otherMotor = this._synchedMotor;
                     const speed = this.speedCmdValues[0];
                     const turnRatio = this.speedCmdValues[1];
                     const stepsOrTime = this.speedCmdValues[2];
@@ -153,8 +158,21 @@ namespace pxsim {
                         if (brake) this.speed = 0;
                         this.clearSpeedCmd();
                     }
-                    // send synched motor state
-                    otherMotor.speed = Math.floor(this.speed * turnRatio / 100);
+
+                    // turn ratio is a bit weird to interpret
+                    // see https://communities.theiet.org/blogs/698/1706
+                    if (turnRatio < 0) {
+                        otherMotor.speed = speed;
+                        this.speed *= (100 + turnRatio) / 100;
+                    } else {
+                        otherMotor.speed = this.speed * (100 - turnRatio) / 100;
+                    }
+
+                    // clamp
+                    this.speed = Math.max(-100, Math.min(100, this.speed >> 0));
+                    otherMotor.speed = Math.max(-100, Math.min(100, otherMotor.speed >> 0));;
+
+                    // stop other motor if needed
                     if (!this._synchedMotor)
                         otherMotor.clearSpeedCmd();
                     break;
@@ -175,8 +193,15 @@ namespace pxsim {
             // let it coast to speed 0
             if (this.speed && !(this.started || this.speedCmd)) {
                 // decay speed 5% per tick
-                this.speed = Math.round(Math.max(0, Math.abs(this.speed) - 10) * Math.sign(this.speed));
+                this.speed = Math.round(Math.max(0, Math.abs(this.speed) - 10) * sign(this.speed));
             }
         }
     }
+}
+
+namespace pxsim {
+    // A re-implementation of Math.sign (since IE11 doesn't support it)
+    export function sign(num: number) {
+        return num ? num < 0 ? -1 : 1 : 0;
+    }
 }

sim/state/output.ts

@@ -12,10 +12,24 @@ namespace pxsim {
                         data[i] = 0
                 },
                 read: buf => {
-                    let v = "vSIM"
-                    for (let i = 0; i < buf.data.length; ++i)
-                        buf.data[i] = v.charCodeAt(i) || 0
-                    console.log("pwm read");
+                    // console.log("pwm read");
+                    if (buf.data.length == 0) return 2;
+                    const cmd = buf.data[0];
+                    switch (cmd) {
+                        case DAL.opOutputTest:
+                            const port = buf.data[1];
+                            let r = 0;
+                            ev3board().getMotor(port)
+                                .filter(motor => !motor.isReady())
+                                .forEach(motor => r |= (1 << motor.port));
+                            pxsim.BufferMethods.setNumber(buf, BufferMethods.NumberFormat.UInt8LE, 2, r);
+                            break;
+                        default:
+                            let v = "vSIM"
+                            for (let i = 0; i < buf.data.length; ++i)
+                                buf.data[i] = v.charCodeAt(i) || 0
+                            break;
+                    }
                     return buf.data.length
                 },
                 write: buf => {
@@ -70,7 +84,7 @@ namespace pxsim {
                             for (const motor of motors) {
                                 const otherMotor = motors.filter(m => m.port != motor.port)[0];
                                 motor.setSyncCmd(
-                                    motor.port < otherMotor.port ? otherMotor : undefined,
+                                    otherMotor,
                                     cmd, [speed, turnRatio, stepsOrTime, brake]);
                             }
                             return 2;

sim/visuals/nodes/largeMotorView.ts

@@ -1,26 +1,51 @@
 /// <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;
+                if (this.syncedMotor) {
+                    this.showSyncedLabel(motorState, syncedMotor);
+                } else if (this.syncedLabelG) {
+                    this.syncedLabelG.parentNode.removeChild(this.syncedLabelG);
+                }
+            }
         }
 
-        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;
+        }
+    }
+}

svgicons/categories/console.svg

@@ -0,0 +1,58 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Generator: Adobe Illustrator 22.0.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.1"
+   id="svg41"
+   x="0px"
+   y="0px"
+   viewBox="0 0 23 23"
+   style="enable-background:new 0 0 23 23;"
+   xml:space="preserve"
+   inkscape:version="0.91 r13725"
+   sodipodi:docname="console.svg"><metadata
+     id="metadata12"><rdf:RDF><cc:Work
+         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" /><dc:title>color</dc:title></cc:Work></rdf:RDF></metadata><defs
+     id="defs10" /><sodipodi:namedview
+     pagecolor="#ffff44"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1090"
+     inkscape:window-height="695"
+     id="namedview8"
+     showgrid="false"
+     inkscape:zoom="10.26087"
+     inkscape:cx="11.5"
+     inkscape:cy="11.5"
+     inkscape:window-x="0"
+     inkscape:window-y="0"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg41" /><style
+     type="text/css"
+     id="style3">
+	.st0{fill:#FFFFFF;}
+</style><title
+     id="title5">color</title><g
+     id="g3830"
+     transform="matrix(0.98283231,0,0,-1.0120366,8.9614614,10.754156)"><path
+       d="m 0,0 -7.762,-3.561 0,2.701 5.142,2.18 -5.142,2.16 0,2.721 L 0,2.62 0,0 Z"
+       style="fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none"
+       id="path3832"
+       inkscape:connector-curvature="0" /></g><path
+     d="m 20.692705,17.741823 -11.1512146,0 0,-1.743739 11.1512146,0 0,1.743739 z"
+     style="fill:#ffffff;fill-opacity:1;fill-rule:nonzero;stroke:none"
+     id="path3834"
+     inkscape:connector-curvature="0" /></svg>

svgicons/generateIcons.js

@@ -19,6 +19,7 @@ webfontsGenerator({
     "./categories/sensors.svg",
     "./categories/text.svg",
     "./categories/variables.svg",
+    "./categories/console.svg",
     "./categories/advancedcollapsed.svg",
     "./categories/advancedexpanded.svg",
     "./icons/cancel.svg",

targetconfig.json

@@ -8,6 +8,7 @@
         ]
     },
     "galleries": {
-        "Maker Activities": "maker"
+        "Maker Activities": "maker",
+        "Coding Activites": "coding"
     }
 }

tests/touch.ts

@@ -3,5 +3,5 @@ tests.test("Touch sensor pressed", function () {
     brick.print("and click enter", 0, 60)
     brick.buttonEnter.pauseUntil(ButtonEvent.Click)
     brick.clearScreen()
-    tests.assert("Pressed", sensors.touchSensor1.isPressed())
+    tests.assert("Pressed", sensors.touch1.isPressed())
 })

theme/blockly.less

@@ -53,7 +53,6 @@ div.blocklyTreeSeparator {
 /* Blockly Text */
 span.blocklyTreeLabel {
     font-family: @pageFont !important;
-    text-transform: uppercase !important;
     font-size:1rem !important;
     font-weight: bold;
 }
@@ -75,6 +74,19 @@ span.blocklyTreeLabel {
     border-radius: 0px !important;
 }
 
+.blocklyDropDownArrow.arrowTop {
+    border-top-left-radius: 0px !important;
+}
+
+.blocklyToggleRect {
+    rx: 0 !important;
+    ry: 0 !important;
+}
+
+.blocklyDropDownButton {
+    border-radius: 0px !important;
+}
+
 /* Mobile */
 @media only screen and (max-width: @largestMobileScreen) {
     #blocklyTrashIcon {
@@ -118,34 +130,34 @@ span.blocklyTreeIcon.blocklyTreeIconaddpackage::before {
 }
 
 span.blocklyTreeIcon.blocklyTreeIconadvancedcollapsed::before {
-    content: "\f112";
+    content: "\f113";
 }
 
 span.blocklyTreeIcon.blocklyTreeIconadvancedexpanded::before {
-    content: "\f113";
+    content: "\f114";
 }
 
 .save-editortools-btn .icon.save:before {
     font-family: 'legoIcons';
-    content: "\f117";
+    content: "\f118";
 }
 
 .download-button .icon.download.icon-and-text:before {
     font-family: 'legoIcons';
-    content: "\f116";
+    content: "\f117";
 }
 
 .button.approve.positive i.icon.checkmark:before {
     font-family: 'legoIcons';
-    content: "\f115";
+    content: "\f116";
 }
 
 .button.approve.cancel i.icon.cancel:before {
     font-family: 'legoIcons';
-    content: "\f114";
+    content: "\f115";
 }
 
 .blocks-menuitem i.icon.blocks:before {
     font-family: 'legoIcons' !important;
-    content: "\f118" !important;
+    content: "\f119" !important;
 }

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;

theme/site/globals/site.variables

@@ -132,7 +132,7 @@
    Full screen
 --------------------*/
 
-@fullscreenBackgroundGradientStart: @blue;
+@fullscreenBackgroundGradientStart: #fff;
 @fullscreenBackgroundGradientEnd: #fff;
 
 /*-------------------
@@ -170,6 +170,6 @@
 --------------------*/
 
 @flyoutLabelColor: white;
-@blocklyFlyoutColor: #282828;
-@blocklyFlyoutColorOpacity: 0.9;
-@monacoFlyoutColor: rgba(40, 40, 40,0.9);
+@blocklyFlyoutColor: #3B3C3D;
+@blocklyFlyoutColorOpacity: 1.0;
+@monacoFlyoutColor: rgba(59, 60, 61, 1.0);