0.0.60

simplifiying brick light api (#231 )
gyro reset fix
2018-01-11 13:43:41 -08:00 · 2018-01-11 13:43:11 -08:00 · 2018-01-11 11:17:23 -08:00 · 2018-01-11 08:55:31 -08:00 · 2018-01-11 08:47:09 -08:00 · 2018-01-11 08:28:25 -08:00
47 changed files with 641 additions and 392 deletions
--- a/README.md
+++ b/README.md
@ -4,7 +4,8 @@

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

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

 ## Local Dev setup

--- a/docs/coding.md
+++ b/docs/coding.md
@ -167,4 +167,5 @@
  "description": "Activity 2",
  "url":"/coding/roaming-2",
  "cardType": "example"
-}, {
+}]
+```
--- a/docs/coding/cruise-control-3.md
+++ b/docs/coding/cruise-control-3.md
@ -14,7 +14,7 @@ function accelerate() {
 }
 function update() {
    brick.clearScreen()
-    brick.printLine("speed: " + speed, 1)
+    brick.showString("speed: " + speed, 1)
    motors.largeBC.setSpeed(speed)
 }
 sensors.touch2.onEvent(TouchSensorEvent.Pressed, function () {
--- a/docs/coding/reverse-beeper-1.md
+++ b/docs/coding/reverse-beeper-1.md
@ -7,5 +7,5 @@ loops.forever(function () {
 })
 motors.largeBC.setSpeed(-20);
 sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
-motors.stopAllMotors();
+motors.largeBC.stop();
 ```
--- a/docs/coding/reverse-beeper-2.md
+++ b/docs/coding/reverse-beeper-2.md
@ -9,5 +9,5 @@ loops.forever(function () {
 })
 motors.largeBC.setSpeed(-20);
 sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
-motors.stopAllMotors();
+motors.largeBC.stop();
 ```
--- a/docs/coding/reverse-beeper-3.md
+++ b/docs/coding/reverse-beeper-3.md
@ -4,10 +4,9 @@
 let beep = false
 beep = true
 control.runInBackground(function () {
-    motors.largeB.setSpeed(-20)
-    motors.largeC.setSpeed(-20)
+    motors.largeBC.setSpeed(-20)
    sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear)
-    motors.stopAllMotors()
+    motors.largeBC.stop()
    beep = false
 })
 control.runInBackground(function () {
--- a/docs/examples/line-follower-pid.md
+++ b/docs/examples/line-follower-pid.md
@ -0,0 +1,50 @@
+# Gradien follower PID + calibration
+
+```blocks
+let lasterror = 0
+let D = 0
+let I = 0
+let P = 0
+let error = 0
+let setpoint = 0
+let max = 0
+let min = 0
+let v = 0
+v = sensors.color3.light(LightIntensityMode.Reflected)
+min = v
+max = v
+setpoint = v
+while (!(brick.buttonEnter.wasPressed())) {
+    brick.clearScreen()
+    brick.showString("Move robot on terrain", 1)
+    brick.showString("Press ENTER when done", 2)
+    v = sensors.color3.light(LightIntensityMode.Reflected)
+    min = Math.min(min, v)
+    max = Math.max(max, v)
+    setpoint = (max + min) / 2
+    brick.showValue("v", v, 3)
+    brick.showValue("min", min, 4)
+    brick.showValue("max", v, 5)
+    brick.showValue("setpoint", setpoint, 6)
+    loops.pause(100)
+}
+loops.forever(function () {
+    brick.clearScreen()
+    v = sensors.color3.light(LightIntensityMode.Reflected)
+    brick.showValue("light", v, 1)
+    error = v - setpoint
+    brick.showValue("error", error, 2)
+    P = error * 5
+    brick.showValue("P", P, 3)
+    I = I + error * 0.01
+    brick.showValue("I", I, 4)
+    D = (error - lasterror) * 0.2
+    brick.showValue("D", D, 5)
+    motors.largeBC.steer(P + (I + D), 100)
+    lasterror = error
+    if (brick.buttonEnter.wasPressed()) {
+        motors.largeBC.setSpeed(0)
+        brick.buttonDown.pauseUntil(ButtonEvent.Click)
+    }
+})
+```
--- a/docs/static/avatar.svg
+++ b/docs/static/avatar.svg
@ -0,0 +1,109 @@
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+	<path id="Path_206" class="st0" d="M5327-8135.8c0,0.1,0,0.2,0,0.4c0.1,0.5,0.3,0.9,0.7,1.1c0.1,0.1,0.3,0.1,0.4,0.2l0,0
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+	<path id="Path_207" class="st0" d="M5329-8134.4c-0.1,0.1-0.2,0.2-0.3,0.4c0,0,0,0,0,0.1c0,0.1,0,0.1,0.1,0.1c0.1,0,0.2,0,0.3-0.1
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+</g>
+</svg>
--- a/editor/extension.ts
+++ b/editor/extension.ts
@ -4,10 +4,11 @@
 import { deployCoreAsync, initAsync } from "./deploy";
 import { FieldPorts } from "./field_ports";
 import { FieldImages } from "./field_images";
-import {FieldSpeed} from "./field_speed";
+import { FieldSpeed } from "./field_speed";
 import { FieldBrickButtons } from "./field_brickbuttons";
+import { FieldTurnRatio } from "./field_turnratio";

-pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
+pxt.editor.initExtensionsAsync = function(opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
    pxt.debug('loading pxt-ev3 target extensions...')
    updateBlocklyShape();
    const res: pxt.editor.ExtensionResult = {
@ -23,6 +24,9 @@ pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): P
        }, {
            selector: "brickbuttons",
            editor: FieldBrickButtons
+        }, {
+            selector: "turnratio",
+            editor: FieldTurnRatio
        }],
        deployCoreAsync
    };
--- a/editor/field_ports.ts
+++ b/editor/field_ports.ts
@ -24,6 +24,9 @@ export class FieldPorts extends Blockly.FieldDropdown implements Blockly.FieldCu
        this.width_ = parseInt(options.width) || 300;
    }

+    trimOptions_() {
+    }
+
    /**
     * Create a dropdown menu under the text.
     * @private
@ -42,7 +45,8 @@ export class FieldPorts extends Blockly.FieldDropdown implements Blockly.FieldCu
        // Accessibility properties
        contentDiv.setAttribute('role', 'menu');
        contentDiv.setAttribute('aria-haspopup', 'true');
-        const options = this.getOptions();
+        let options = this.getOptions();
+        options = options.sort();
        for (let i = 0, option: any; option = options[i]; i++) {
            let content = (options[i] as any)[0]; // Human-readable text or image.
            const value = (options[i] as any)[1]; // Language-neutral value.
--- a/editor/field_turnratio.ts
+++ b/editor/field_turnratio.ts
@ -0,0 +1,108 @@
+/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
+/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
+
+export interface FieldTurnRatioOptions extends Blockly.FieldCustomOptions {
+}
+
+export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.FieldCustom {
+    public isFieldCustom_ = true;
+
+    private params: any;
+
+    private path_: SVGPathElement;
+    private reporter_: SVGTextElement;
+
+    /**
+     * Class for a color wheel field.
+     * @param {number|string} value The initial content of the field.
+     * @param {Function=} opt_validator An optional function that is called
+     *     to validate any constraints on what the user entered.  Takes the new
+     *     text as an argument and returns either the accepted text, a replacement
+     *     text, or null to abort the change.
+     * @extends {Blockly.FieldNumber}
+     * @constructor
+     */
+    constructor(value_: any, params: FieldTurnRatioOptions, opt_validator?: Function) {
+        super(String(value_), '-100', '100', null, '10', 'TurnRatio', opt_validator);
+        this.params = params;
+        (this as any).sliderColor_ = '#a8aaa8';
+    }
+
+    static HALF = 80;
+    static HANDLE_RADIUS = 30;
+    static RADIUS = FieldTurnRatio.HALF - FieldTurnRatio.HANDLE_RADIUS - 1;
+
+    createLabelDom_(labelText: string) {
+        let labelContainer = document.createElement('div');
+        let svg = Blockly.utils.createSvgElement('svg', {
+            'xmlns': 'http://www.w3.org/2000/svg',
+            'xmlns:html': 'http://www.w3.org/1999/xhtml',
+            'xmlns:xlink': 'http://www.w3.org/1999/xlink',
+            'version': '1.1',
+            'height': (FieldTurnRatio.HALF + FieldTurnRatio.HANDLE_RADIUS + 10) + 'px',
+            'width': (FieldTurnRatio.HALF * 2) + 'px'
+        }, labelContainer);
+        let defs = Blockly.utils.createSvgElement('defs', {}, svg);
+        let marker = Blockly.utils.createSvgElement('marker', {
+            'id': 'head',
+            'orient': "auto",
+            'markerWidth': '2',
+            'markerHeight': '4',
+            'refX': '0.1', 'refY': '1.5'
+        }, defs);
+        let markerPath = Blockly.utils.createSvgElement('path', {
+            'd': 'M0,0 V3 L1.5,1.5 Z',
+            'fill': '#f12a21'
+        }, marker);
+        this.reporter_ = pxsim.svg.child(svg, "text", {
+            'x': FieldTurnRatio.HALF, 'y': 96,
+            'text-anchor': 'middle', 'alignment-baseline': 'middle',
+            'style': 'font-size: 50px',
+            'class': 'sim-text inverted number'
+        }) as SVGTextElement;
+        this.path_ = Blockly.utils.createSvgElement('path', {
+            'x1': FieldTurnRatio.HALF,
+            'y1': FieldTurnRatio.HALF,
+            'marker-end': 'url(#head)',
+            'style': 'fill: none; stroke: #f12a21; stroke-width: 10'
+        }, svg);
+        this.updateGraph_();
+        let readout = document.createElement('span');
+        readout.setAttribute('class', 'blocklyFieldSliderReadout');
+        return [labelContainer, readout];
+    };
+
+    updateGraph_() {
+        if (!this.path_) {
+            return;
+        }
+        let v = goog.math.clamp(parseFloat(this.getText()), -100, 100);
+        if (isNaN(v)) {
+            v = 0;
+        }
+
+        const x = goog.math.clamp(parseFloat(this.getText()), -100, 100) / 100;
+        const theta = x * Math.PI / 2;
+        const cx = FieldTurnRatio.HALF;
+        const cy = FieldTurnRatio.HALF - 14;
+        const gamma = Math.PI - 2 * theta;
+        const r = FieldTurnRatio.RADIUS;
+        const alpha = 0.2 + Math.abs(x) * 0.5;
+        const x1 = 0;
+        const y1 = r * alpha;
+        const y2 = r * Math.sin(Math.PI / 2 - theta);
+        const x2 = r * Math.cos(Math.PI / 2 - theta);
+        const y3 = y2 - r * alpha * Math.cos(2 * theta);
+        const x3 = x2 - r * alpha * Math.sin(2 * theta);
+
+
+        const d = `M ${cx} ${cy} C ${cx} ${cy - y1} ${cx + x3} ${cy - y3} ${cx + x2} ${cy - y2}`;
+        this.path_.setAttribute('d', d);
+
+        this.reporter_.textContent = `${v}`;
+    }
+
+    setReadout_(readout: Element, value: string) {
+        this.updateGraph_();
+    }
+}
--- a/libs/chassis/_locales/chassis-jsdoc-strings.json
+++ b/libs/chassis/_locales/chassis-jsdoc-strings.json
@ -1,12 +1,9 @@
 {
  "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.drive|param|value": "the amount of movement, eg: 2",
  "chassis.Chassis.setMotors": "Sets the motors used by the chassis, default is B+C",
  "chassis.Chassis.setProperty": "Sets a property of the robot",
  "chassis.Chassis.setProperty|param|property": "the property to set",
--- a/libs/chassis/_locales/chassis-strings.json
+++ b/libs/chassis/_locales/chassis-strings.json
@ -1,7 +1,6 @@
 {
  "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",
--- a/libs/chassis/chassis.ts
+++ b/libs/chassis/chassis.ts
@ -24,19 +24,6 @@ namespace chassis {
            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.
@ -45,10 +32,10 @@ namespace chassis {
         * @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"
+        //% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s"
        //% inlineInputMode=inline
        //% weight=95 blockGap=8
-        driveFor(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
+        drive(speed: number, rotationSpeed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
            // speed is expressed in %
            const R = this.wheelRadius; // cm
            const L = this.baseLength; // cm
@ -65,7 +52,7 @@ namespace chassis {
            const sr = vr / maxw * 100; // % 
            const sl = vl / maxw * 100; // %

-            this.motors.tankFor(sr, sl, value, unit)
+            this.motors.tank(sr, sl, value, unit)
        }

        /**
--- a/libs/color-sensor/_locales/color-sensor-jsdoc-strings.json
+++ b/libs/color-sensor/_locales/color-sensor-jsdoc-strings.json
@ -11,5 +11,8 @@
  "sensors.ColorSensor.onLightChanged|param|handler": "the code to run when detected",
  "sensors.ColorSensor.pauseForColor": "Waits for the given color to be detected",
  "sensors.ColorSensor.pauseForColor|param|color": "the color to detect",
-  "sensors.ColorSensor.pauseForLight": "Waits for the given color to be detected"
+  "sensors.ColorSensor.pauseForLight": "Waits for the given color to be detected",
+  "sensors.ColorSensor.setThreshold": "Sets a threshold value",
+  "sensors.ColorSensor.setThreshold|param|condition": "the dark or bright light condition",
+  "sensors.ColorSensor.setThreshold|param|value": "the value threshold"
 }
--- a/libs/color-sensor/_locales/color-sensor-strings.json
+++ b/libs/color-sensor/_locales/color-sensor-strings.json
@ -19,11 +19,13 @@
  "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|%condition",
+  "sensors.ColorSensor.setThreshold|block": "set %sensor|%condition|to %value",
  "sensors.color1|block": "color 1",
  "sensors.color2|block": "color 2",
  "sensors.color3|block": "color 3",
  "sensors.color4|block": "color 4",
  "sensors|block": "sensors",
  "{id:category}Sensors": "Sensors",
-  "{id:group}Color Sensor": "Color Sensor"
+  "{id:group}Color Sensor": "Color Sensor",
+  "{id:group}Threshold": "Threshold"
 }
--- a/libs/color-sensor/color.ts
+++ b/libs/color-sensor/color.ts
@ -152,7 +152,7 @@ namespace sensors {
        //% parts="colorsensor"
        //% blockNamespace=sensors
        //% sensor.fieldEditor="ports"
-        //% weight=99
+        //% weight=98
        //% group="Color Sensor"
        color(): ColorSensorColor {
            this.setMode(ColorSensorMode.Color)
@ -221,6 +221,21 @@ namespace sensors {
        reflectedLight() {
            return this.light(LightIntensityMode.Reflected);
        }
+
+        /**
+         * Sets a threshold value
+         * @param condition the dark or bright light condition
+         * @param value the value threshold
+         */
+        //% blockId=colorSetThreshold block="set %sensor|%condition|to %value"
+        //% group="Threshold" blockGap=8 weight=90
+        //% value.min=0 value.max=100
+        setThreshold(condition: LightCondition, value: number) {
+            if (condition == LightCondition.Dark)
+                this.thresholdDetector.setLowThreshold(value)
+            else
+                this.thresholdDetector.setHighThreshold(value);
+        }
    }

    //% whenUsed block="color 3" weight=90 fixedInstance jres=icons.port3
--- a/libs/core/_locales/core-jsdoc-strings.json
+++ b/libs/core/_locales/core-jsdoc-strings.json
@ -1,4 +1,5 @@
 {
+  "BrickLight": "Patterns for lights under the buttons.",
  "ButtonEvent": "User interaction on buttons",
  "Draw": "Drawing modes",
  "Image.buffer": "Returns the underlaying Buffer object.",
@ -6,7 +7,6 @@
  "Image.draw": "Draw an image on the screen.",
  "Image.height": "Returns the height of an image.",
  "Image.width": "Returns the width of an image.",
-  "LightsPattern": "Patterns for lights under the buttons.",
  "MMap.getNumber": "Read a number in specified format from the buffer.",
  "MMap.ioctl": "Perform ioctl(2) on the underlaying file",
  "MMap.length": "Returns the length of a Buffer object.",
@ -28,11 +28,9 @@
  "brick.buttonRight": "Right button on the EV3 Brick.",
  "brick.buttonUp": "Up button on the EV3 Brick.",
  "brick.clearScreen": "Clears the screen",
-  "brick.lightPattern": "Pattern block.",
-  "brick.lightPattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
  "brick.printPorts": "Prints the port states on the screen",
  "brick.setLight": "Set lights.",
-  "brick.setLight|param|pattern": "the lights pattern to use.",
+  "brick.setLight|param|pattern": "the lights pattern to use. eg: BrickLight.Orange",
  "brick.showImage": "Shows an image on screen",
  "brick.showImage|param|image": "image to draw",
  "brick.showNumber": "Shows a number on the screen",
@ -61,6 +59,8 @@
  "control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
  "motors.Motor.angle": "Gets motor angle.",
  "motors.Motor.clearCounts": "Clears the motor count",
+  "motors.Motor.setRegulated": "Indicates if the motor speed should be regulated. Default is true.",
+  "motors.Motor.setRegulated|param|value": "true for regulated motor",
  "motors.Motor.speed": "Gets motor actual speed.",
  "motors.Motor.tacho": "Gets motor tachometer count.",
  "motors.Motor.toString": "Returns the status of the motor",
@ -71,29 +71,21 @@
  "motors.MotorBase.setBrake": "Sets the automatic brake on or off when the motor is off",
  "motors.MotorBase.setBrake|param|brake": "a value indicating if the motor should break when off",
  "motors.MotorBase.setReversed": "Reverses the motor polarity",
-  "motors.MotorBase.setSpeed": "Sets the speed of the motor.",
-  "motors.MotorBase.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": "Sets the motor speed for limited time or distance.",
  "motors.MotorBase.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
+  "motors.MotorBase.setSpeed|param|unit": "(optional) unit of the value",
+  "motors.MotorBase.setSpeed|param|value": "(optional) measured distance or rotation",
  "motors.MotorBase.stop": "Stops the motor(s).",
  "motors.SynchedMotorPair.steer": "Turns the motor and the follower motor by a number of rotations",
-  "motors.SynchedMotorPair.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": "(optional) unit of the value",
+  "motors.SynchedMotorPair.steer|param|value": "(optional) move duration or rotation",
  "motors.SynchedMotorPair.tank": "The Move Tank block can make a robot drive forward, backward, turn, or stop. \nUse the Move Tank block for robot vehicles that have two Large Motors, \nwith one motor driving the left side of the vehicle and the other the right side. \nYou can make the two motors go at different speeds or in different directions \nto make your robot turn.",
-  "motors.SynchedMotorPair.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": "(optional) unit of the value",
+  "motors.SynchedMotorPair.tank|param|value": "(optional) move duration or rotation",
  "motors.SynchedMotorPair.toString": "Returns the name(s) of the motor",
  "motors.mkCmd": "Allocates a message buffer",
  "motors.mkCmd|param|addSize": "required additional bytes",
--- a/libs/core/_locales/core-strings.json
+++ b/libs/core/_locales/core-strings.json
@ -1,17 +1,17 @@
 {
+  "BrickLight.GreenFlash|block": "green flash",
+  "BrickLight.GreenPulse|block": "green pulse",
+  "BrickLight.Green|block": "green",
+  "BrickLight.Off|block": "off",
+  "BrickLight.OrangeFlash|block": "orange flash",
+  "BrickLight.OrangePulse|block": "orange pulse",
+  "BrickLight.Orange|block": "orange",
+  "BrickLight.RedFlash|block": "red flash",
+  "BrickLight.RedPulse|block": "red pulse",
+  "BrickLight.Red|block": "red",
  "ButtonEvent.Click|block": "click",
  "ButtonEvent.Down|block": "down",
  "ButtonEvent.Up|block": "up",
-  "LightsPattern.GreenFlash|block": "Flashing Green",
-  "LightsPattern.GreenPulse|block": "Pulsing Green",
-  "LightsPattern.Green|block": "Green",
-  "LightsPattern.Off|block": "Off",
-  "LightsPattern.OrangeFlash|block": "Flashing Orange",
-  "LightsPattern.OrangePulse|block": "Pulsing Orange",
-  "LightsPattern.Orange|block": "Orange",
-  "LightsPattern.RedFlash|block": "Flashing Red",
-  "LightsPattern.RedPulse|block": "Pulsing Red",
-  "LightsPattern.Red|block": "Red",
  "MoveUnit.Degrees|block": "degrees",
  "MoveUnit.MilliSeconds|block": "milliseconds",
  "MoveUnit.Rotations|block": "rotations",
@ -30,15 +30,14 @@
  "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",
-  "brick.buttonRight|block": "right",
-  "brick.buttonUp|block": "up",
+  "brick.buttonDown|block": "button down",
+  "brick.buttonEnter|block": "button enter",
+  "brick.buttonLeft|block": "button left",
+  "brick.buttonRight|block": "button right",
+  "brick.buttonUp|block": "button up",
  "brick.clearScreen|block": "clear screen",
-  "brick.lightPattern|block": "%pattern",
  "brick.printPorts|block": "print ports",
-  "brick.setLight|block": "set light to %pattern=led_pattern",
+  "brick.setLight|block": "set light to %pattern",
  "brick.showImage|block": "show image %image=screen_image_picker",
  "brick.showNumber|block": "show number %name|at line %line",
  "brick.showString|block": "show string %text|at line %line",
@ -52,16 +51,16 @@
  "control|block": "control",
  "motors.Motor.angle|block": "%motor|angle",
  "motors.Motor.clearCounts|block": "%motor|clear counts",
+  "motors.Motor.setRegulated|block": "set %motor|regulated %value",
  "motors.Motor.speed|block": "%motor|speed",
  "motors.Motor.tacho|block": "%motor|tacho",
  "motors.MotorBase.pauseUntilReady|block": "%motor|pause until ready",
+  "motors.MotorBase.reset|block": "%motors|reset",
  "motors.MotorBase.setBrake|block": "set %motor|brake %brake",
  "motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
-  "motors.MotorBase.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.MotorBase.stop|block": "%motors|stop",
+  "motors.SynchedMotorPair.steer|block": "steer %chassis|turn ratio %turnRatio=motorTurnRatioPicker|speed %speed=motorSpeedPicker|%",
  "motors.SynchedMotorPair.tank|block": "tank %motors|%speedLeft=motorSpeedPicker|%|%speedRight=motorSpeedPicker|%",
  "motors.largeAB|block": "large A+B",
  "motors.largeAD|block": "large A+D",
@ -93,8 +92,6 @@
  "{id:category}Serial": "Serial",
  "{id:group}Buttons": "Buttons",
  "{id:group}Counters": "Counters",
-  "{id:group}Light": "Light",
-  "{id:group}Measured Move": "Measured Move",
  "{id:group}More": "More",
  "{id:group}Move": "Move",
  "{id:group}Screen": "Screen",
--- a/libs/core/buttons.ts
+++ b/libs/core/buttons.ts
@ -2,35 +2,35 @@
 /**
 * Patterns for lights under the buttons.
 */
-const enum LightsPattern {
-    //% block=Off enumval=0
+const enum BrickLight {
+    //% block=off enumval=0
    //% blockIdentity=brick.lightPattern
    Off = 0,
-    //% block=Green enumval=1
+    //% block=green enumval=1
    //% blockIdentity=brick.lightPattern
    Green = 1,
-    //% block=Red enumval=2
+    //% block=red enumval=2
    //% blockIdentity=brick.lightPattern
    Red = 2,
-    //% block=Orange enumval=3
+    //% block=orange enumval=3
    //% blockIdentity=brick.lightPattern
    Orange = 3,
-    //% block="Flashing Green" enumval=4
+    //% block="green flash" enumval=4
    //% blockIdentity=brick.lightPattern
    GreenFlash = 4,
-    //% block="Flashing Red" enumval=5
+    //% block="red flash" enumval=5
    //% blockIdentity=brick.lightPattern
    RedFlash = 5,
-    //% block="Flashing Orange" enumval=6
+    //% block="orange flash" enumval=6
    //% blockIdentity=brick.lightPattern
    OrangeFlash = 6,
-    //% block="Pulsing Green" enumval=7
+    //% block="green pulse" enumval=7
    //% blockIdentity=brick.lightPattern
    GreenPulse = 7,
-    //% block="Pulsing Red" enumval=8
+    //% block="red pulse" enumval=8
    //% blockIdentity=brick.lightPattern
    RedPulse = 8,
-    //% block="Pulsing Orange" enumval=9
+    //% block="orange pulse" enumval=9
    //% blockIdentity=brick.lightPattern
    OrangePulse = 9,
 }
@ -170,6 +170,7 @@ namespace brick {
        // this needs to be done in query(), which is run without the main JS execution mutex
        // otherwise, while(true){} will lock the device
        if (ret & DAL.BUTTON_ID_ESCAPE) {
+            motors.stopAllMotors(); // ensuring that all motors are off
            control.reset()
        }
        return ret
@ -203,31 +204,31 @@ namespace brick {
    /**
     * Enter button on the EV3 Brick.
     */
-    //% whenUsed block="enter" weight=95 fixedInstance
+    //% whenUsed block="button enter" weight=95 fixedInstance
    export const buttonEnter: Button = new DevButton(DAL.BUTTON_ID_ENTER)

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

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

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

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

@ -251,32 +252,21 @@ namespace control {
 }

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

    /**
     * Set lights.
-     * @param pattern the lights pattern to use.
+     * @param pattern the lights pattern to use. eg: BrickLight.Orange
     */
-    //% blockId=setLights block="set light to %pattern=led_pattern"
+    //% blockId=setLights block="set light to %pattern"
    //% weight=100 group="Buttons"
-    export function setLight(pattern: number): void {
+    export function setLight(pattern: BrickLight): void {
        if (currPattern === pattern)
            return
-        currPattern = pattern
-        let cmd = output.createBuffer(2)
+        currPattern = pattern;
+        const cmd = output.createBuffer(2)
        cmd[0] = pattern + 48
        brick.internal.getBtnsMM().write(cmd)
    }
-
-
-    /**
-     * Pattern block.
-     * @param pattern the lights pattern to use. eg: LightsPattern.Green
-     */
-    //% blockId=led_pattern block="%pattern"
-    //% shim=TD_ID colorSecondary="#6e9a36" group="Light"
-    //% blockHidden=true useEnumVal=1 pattern.fieldOptions.decompileLiterals=1
-    export function lightPattern(pattern: LightsPattern): number {
-        return pattern;
-    }
 }
--- a/libs/core/images.jres
+++ b/libs/core/images.jres
@ -114,23 +114,7 @@
    "progressWaterLevel3": "iVBORw0KGgoAAAANSUhEUgAAALIAAACAAQAAAACHQw5jAAABP0lEQVR42u2VMWrEMBBFRxGsGrNqXYT4CltuFV9lj5EqVlhImyPkKoKFbJcrrHKCKJ2XKFb+BGxsGBdbBRJ/mGHm+VtjJGNT/srQO6cG8cnFKXvKLVdHRFcjfXD3xDyybY9IFVJgbpgHtilEa5E8XJ1m/gJbVwJFXuwRrqSYa9hSCZt/A1/B1VLjqdMG1mu0bgeD4W5Te2r1A6YVJne0qfNP57fWU9AY5dYKd29tDgodldoTqagjGaoc3VAiiibQmlg1ApeIQIjuufDUq+C0Q1z1xaJFi/60iluZ28aJ3Jy9yPU5iFxlmesZvsry+kUz8/z/5qTuZKyizM2F3IYZfnDyuR7kc61fL+P4qYmq0mCZ+tuhfHZjPvhV8iKnMVejuZNXrjnK3O77aeo03hEzNGqyUcbNnJdfPjqLFv2+vgH+JtBJ4nz/SAAAAABJRU5ErkJggg==",
    "systemAccept1": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAAQElEQVR42mM4wMDMsP//X4b6//+AWI6h/p8dQ/2fOob6H/8YKj/+Y6h4/I+hxvkfQx07UJ4fiOf/A6sF6QHqBQDsYh9jNdETHwAAAABJRU5ErkJggg==",
    "systemAccept2": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAAQUlEQVR42mM4wMDMsP//X4YEBjYGB4ZHDA6MhxgcmJsYHNiZGNz4mBjcZZgYnPcwMTj+YGJw+ADECUxgtSA9QL0A+IIPxwiZFtwAAAAASUVORK5CYII=",
-    "systemAlert": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAVAQAAAAB0khOLAAAARUlEQVR42iXD0QmAIAAE0IvWCtqmMbLG8MtVhAZwjBvALyE85XzwoE/QO8f5WPsd0K+An6c3Jq8sThIUUVg9qfmDDRn7AD/WMAQEJ+pCAAAAAElFTkSuQmCC",
    "systemBox": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAAGklEQVR42mM4wMDMsP//X4b6//9IwiA9QL0AlQYkzY8nCoAAAAAASUVORK5CYII=",
-    "systemBusy0": "iVBORw0KGgoAAAANSUhEUgAAABMAAAAPAQAAAAAuP8mBAAAAMElEQVR42mPY/38Bg/x/BgbnHw4Msd8dGKLeA+k4IL0XSGdB6TioOFAepA6kHqgPAJCPFdTsOCPGAAAAAElFTkSuQmCC",
-    "systemBusy1": "iVBORw0KGgoAAAANSUhEUgAAAA8AAAATAQAAAABnuWoHAAAAOUlEQVR42mNoYGKw/8EAJO9/A6GrYQyv1jF8jWP4tY/hbx3D730M3+4xvH/HcO8bw90yhlvbGGDqAdjhGYsKgwC5AAAAAElFTkSuQmCC",
    "systemDecline1": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAANUlEQVR42mM4wMDMsP//X4b6//8Y6urtGOrt6hjq5/xjqD8JxI+hGMQGiQHlwGqAakF6gHoBybUeX0RcSJEAAAAASUVORK5CYII=",
-    "systemDecline2": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAANUlEQVR42mM4wMDMsP//X4YEBjYGx4ZDDA4HmxgckpkYHMyAWAaKQWyQGFAOpAakFqQHqBcAGz4QyzSHE/gAAAAASUVORK5CYII=",
-    "systemDotEmpty": "iVBORw0KGgoAAAANSUhEUgAAAB8AAAAfAQAAAAA31SuUAAAAYklEQVR42oWOMQ5AQBRE5yZ7FEfSKTmC25CQuILehkahkc12IvgjRqHUTPX/ew+MzsByNlhxGq7ochz90mFL9gmBFjCSGTxZoSUb1OTwTkquP/Md61cU8USWQzZ5VaCWp+oGeLZn9EklJaAAAAAASUVORK5CYII=",
-    "systemDotFull": "iVBORw0KGgoAAAANSUhEUgAAAB8AAAAfAQAAAAA31SuUAAAAX0lEQVR42mP4/0H+H8P//sf/GP7V//nH8PeDfB3D7wPs+xi+MzDeY3jHAER3GBjKGG4wMJgx7GBgsGLYwMAgBSESGBh4CBAIxWC9YFPA5oFNBtsBtg1sL9gFYLeAXAUAPIwyHWLMTS8AAAAASUVORK5CYII=",
-    "systemEv3small": "iVBORw0KGgoAAAANSUhEUgAAACsAAAANAQAAAAAY06pGAAAAPUlEQVR42mNg4LFvYwACFEr+n32fPYiS5/8P5PLLyz8AUXwQqs8eSMn/b7H/D6IO1NmDBA/UgbTzP/gHpwBcwBWO2QYBDwAAAABJRU5ErkJggg==",
-    "systemPlay": "iVBORw0KGgoAAAANSUhEUgAAABAAAAAQAQAAAAA3iMLMAAAAMElEQVR42mP4Y8/wsZ/h+XOG858Z5v5k2POXwcaGoUYOhIAMIBcoCJQCKgAq+2MPAAFKFVmziLfGAAAAAElFTkSuQmCC",
-    "systemSlider0": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAEklEQVR42mM4YMBwfwPV0AEDAHmKKNims3dJAAAAAElFTkSuQmCC",
-    "systemSlider1": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAGklEQVR42mM4YMBwfwNFCAKuGjCc2sBwwAAAT7olG9TpXdAAAAAASUVORK5CYII=",
-    "systemSlider2": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwM5CAJObWC4aoAgDxgAACpUJGftPg+WAAAAAElFTkSuQmCC",
-    "systemSlider3": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwMJCAKuGjCc2oCFPGAAAPSIIz417p4OAAAAAElFTkSuQmCC",
-    "systemSlider4": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwNhBAGnNjBcNcBHHjAAAMJ6IooqNLP/AAAAAElFTkSuQmCC",
-    "systemSlider5": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwNOBAFXDRhObSCKPGAAAHfbIWHuFKlNAAAAAElFTkSuQmCC",
-    "systemSlider6": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwM6goBTGxiuGpBGHjAAADklIK1PooVQAAAAAElFTkSuQmCC",
-    "systemSlider7": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAG0lEQVR42mM4YMBwfwMUQcBVA4ZTG8gkDxgAANmVH4SOiUHMAAAAAElFTkSuQmCC",
-    "systemSlider8": "iVBORw0KGgoAAAANSUhEUgAAAAwAAAAbAQAAAABg3VNpAAAAFElEQVR42mM4YMBwagPDVSqRBwwASoohT92wVBIAAAAASUVORK5CYII="
+    "systemDecline2": "iVBORw0KGgoAAAANSUhEUgAAABgAAAAQAQAAAAAkX4I4AAAANUlEQVR42mM4wMDMsP//X4YEBjYGx4ZDDA4HmxgckpkYHMyAWAaKQWyQGFAOpAakFqQHqBcAGz4QyzSHE/gAAAAASUVORK5CYII="
 }
--- a/libs/core/images.ts
+++ b/libs/core/images.ts
@ -220,41 +220,10 @@ namespace images {
    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemAccept2 = screen.unpackPNG(hex``);
    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemAlert = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemBox = screen.unpackPNG(hex``);
    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemBusy0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemBusy1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemDecline1 = screen.unpackPNG(hex``);
    //% fixedInstance jres blockIdentity=brick.__imagePicker
    export const systemDecline2 = screen.unpackPNG(hex``);
    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemDotEmpty = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemDotFull = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemEv3small = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemPlay = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemSlider0 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemSlider1 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemSlider2 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemSlider3 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemSlider4 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemSlider5 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemSlider6 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemSlider7 = screen.unpackPNG(hex``);
-    //% fixedInstance jres blockIdentity=brick.__imagePicker
-    export const systemSlider8 = screen.unpackPNG(hex``);
 }
--- a/libs/core/input.ts
+++ b/libs/core/input.ts
@ -93,7 +93,7 @@ namespace sensors.internal {
        init();
        return {
            temp: analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryTemp),
-            current: analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryCurrent)
+            current: Math.round(analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryCurrent) / 10)
        }
    }

@ -310,7 +310,7 @@ namespace sensors.internal {
            return getUartNumber(fmt, off, this._port)
        }

-        protected reset() {
+        reset() {
            if (this.isActive()) uartReset(this._port);
        }
    }
--- a/libs/core/ns.ts
+++ b/libs/core/ns.ts
@ -11,4 +11,15 @@ namespace motors {
    export function __speedPicker(speed: number): number {
        return speed;
    }
+
+    /**
+     * A turn ratio picker
+     * @param turnratio the turn ratio, eg: 0
+     */
+    //% blockId=motorTurnRatioPicker block="%turnratio" shim=TD_ID
+    //% turnratio.fieldEditor="turnratio" colorSecondary="#FFFFFF"
+    //% weight=0 blockHidden=1 turnRatio.fieldOptions.decompileLiterals=1
+    export function __turnRatioPicker(turnratio: number): number {
+        return turnratio;
+    }
 }
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@ -96,7 +96,7 @@ namespace motors {
        return b
    }

-    function outputToName(out: Output): string {
+    export function outputToName(out: Output): string {
        let r = "";
        for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
            if (out & (1 << i)) {
@ -111,7 +111,7 @@ namespace motors {
     * Stops all motors
     */
    //% blockId=motorStopAll block="stop all motors"
-    //% weight=5
+    //% weight=1
    //% group="Move"
    export function stopAllMotors() {
        const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
@ -175,7 +175,7 @@ namespace motors {
        */
        //% blockId=motorSetReversed block="set %motor|reversed %reversed"
        //% reversed.fieldEditor=toggleonoff
-        //% weight=59
+        //% weight=59 blockGap=8
        //% group="Move"
        setReversed(reversed: boolean) {
            this.init();
@ -187,7 +187,9 @@ namespace motors {
        /**
         * Stops the motor(s).
         */
-        //%
+        //% weight=6 blockGap=8
+        //% group="Move"
+        //% blockId=motorStop block="%motors|stop"
        stop() {
            this.init();
            stop(this._port, this._brake);
@ -196,45 +198,37 @@ namespace motors {
        /**
         * Resets the motor(s).
         */
-        //%
+        //% weight=5
+        //% group="Move"
+        //% blockId=motorReset block="%motors|reset"
        reset() {
            this.init();
            reset(this._port);
        }

        /**
-         * Sets the speed of the motor.
+         * Sets the motor speed for limited time or distance.
         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
+         * @param value (optional) measured distance or rotation
+         * @param unit (optional) unit of the value
         */
        //% blockId=motorSetSpeed block="set %motor|speed to %speed=motorSpeedPicker|%"
-        //% on.fieldEditor=toggleonoff
-        //% weight=99 blockGap=8
+        //% weight=100 blockGap=8
        //% group="Move"
-        setSpeed(speed: number) {
-            this.init();
-            speed = Math.clamp(-100, 100, speed >> 0);
-            if (!speed) // always stop
-                this.stop();
-            else
-                this._setSpeed(speed);
-        }
-
-        /**
-         * 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
-         */
-        //% blockId=motorMove block="set %motor|speed to %speed=motorSpeedPicker|%|for %value|%unit"
-        //% weight=98 blockGap=8
-        //% group="Measured Move"
-        setSpeedFor(speed: number, value: number, unit: MoveUnit) {
+        setSpeed(speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
            this.init();
            speed = Math.clamp(-100, 100, speed >> 0);
+            // stop if speed is 0
            if (!speed) {
                this.stop();
                return;
            }
+            // special: 0 is infinity
+            if (value == 0) {
+                this._setSpeed(speed);
+                return;
+            }
+            // timed motor moves
            let useSteps: boolean;
            let stepsOrTime: number;
            switch (unit) {
@ -257,6 +251,8 @@ namespace motors {
            }

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

        /**
@ -286,10 +282,12 @@ namespace motors {
    //% fixedInstances
    export class Motor extends MotorBase {
        private _large: boolean;
+        private _regulated: boolean;

        constructor(port: Output, large: boolean) {
            super(port, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
            this._large = large;
+            this._regulated = true;
            this.markUsed();
        }

@ -305,7 +303,7 @@ namespace motors {
        }

        private __setSpeed(speed: number) {
-            const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
+            const b = mkCmd(this._port, this._regulated ? DAL.opOutputPower : DAL.opOutputSpeed, 1)
            b.setNumber(NumberFormat.Int8LE, 2, speed)
            writePWM(b)
            if (speed) {
@ -319,11 +317,24 @@ namespace motors {
                step1: 0,
                step2: stepsOrTime,
                step3: 0,
-                speed: speed,
+                speed: this._regulated ? speed : undefined,
+                power: this._regulated ? undefined : speed,
                useBrake: this._brake
            })
        }

+        /**
+         * Indicates if the motor speed should be regulated. Default is true.
+         * @param value true for regulated motor
+         */
+        //% blockId=outputMotorSetRegulated block="set %motor|regulated %value"
+        //% value.fieldEditor=toggleonoff
+        //% weight=58
+        //% group="Move"
+        setRegulated(value: boolean) {
+            this._regulated = value;
+        }
+
        /**
         * Gets motor actual speed.
         * @param motor the port which connects to the motor
@ -455,7 +466,6 @@ namespace motors {
            });
        }

-
        /**
         * The Move Tank block can make a robot drive forward, backward, turn, or stop. 
         * Use the Move Tank block for robot vehicles that have two Large Motors, 
@ -464,30 +474,14 @@ namespace motors {
         * to make your robot turn.
         * @param speedLeft the speed on the left motor, eg: 50
         * @param speedRight the speed on the right motor, eg: 50
+         * @param value (optional) move duration or rotation
+         * @param unit (optional) unit of the value
         */
        //% blockId=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 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=motorPairTankFor block="tank %motors|%speedLeft=motorSpeedPicker|%|%speedRight=motorSpeedPicker|%|for %value|%unit"
-        //% weight=19 blockGap=8
        //% inlineInputMode=inline
-        //% group="Measured Move"
-        tankFor(speedLeft: number, speedRight: number, value: number, unit: MoveUnit) {
+        //% group="Move"
+        tank(speedLeft: number, speedRight: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
            this.init();

            speedLeft = Math.clamp(-100, 100, speedLeft >> 0);
@ -498,39 +492,22 @@ namespace motors {
                ? (100 - speedRight / speedLeft * 100)
                : (speedLeft / speedRight * 100 - 100);

-            this.steerFor(turnRatio, speed, value, unit);
+            this.steer(turnRatio, speed, value, unit);
        }

-
        /**
         * Turns the motor and the follower motor by a number of rotations
         * @param turnRatio the ratio of power sent to the follower motor, from ``-200`` to ``200``, eg: 0
         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
-         * @param value the move quantity, eg: 2
-         * @param unit the meaning of the value
+         * @param value (optional) move duration or rotation
+         * @param unit (optional) unit of the value
         */
-        //% blockId=motorPairSteer block="steer %chassis|turn ratio %turnRatio|speed %speed=motorSpeedPicker|%"
+        //% blockId=motorPairSteer block="steer %chassis|turn ratio %turnRatio=motorTurnRatioPicker|speed %speed=motorSpeedPicker|%"
        //% weight=95
        //% turnRatio.min=-200 turnRatio=200
        //% inlineInputMode=inline
        //% group="Move"
-        steer(turnRatio: number, speed: number) {
-            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) {
+        steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
            this.init();
            speed = Math.clamp(-100, 100, speed >> 0);
            if (!speed) {
--- a/libs/core/screen.ts
+++ b/libs/core/screen.ts
@ -58,29 +58,7 @@ namespace brick {
        }
    }

-    export function microbitFont() {
-        return {
-            charWidth: 6,
-            charHeight: 5,
-            firstChar: 32,
-            // source https://github.com/lancaster-university/microbit-dal/blob/master/source/core/MicroBitFont.cpp
-            data: hex`
-0000000000 0202020002 0a0a000000 0a1f0a1f0a 0e130e190e 1309041219 0609060916 0202000000 0402020204
-0204040402 000a040a00 00040e0400 0000000402 00000e0000 0000000200 1008040201 0609090906 040604040e
-070806010f 0f08040906 0c0a091f08 1f010f100f 08040e110e 1f08040201 0e110e110e 0e110e0402 0002000200
-0004000402 0804020408 000e000e00 0204080402 0e110c0004 0e11151906 06090f0909 0709070907 0e0101010e
-0709090907 0f0107010f 0f01070101 0e0119110e 09090f0909 0702020207 1f08080906 0905030509 010101010f
-111b151111 1113151911 0609090906 0709070101 060909060c 0709070911 0e01060807 1f04040404 0909090906
-1111110a04 1111151b11 0909060909 110a040404 0f0402010f 0e0202020e 0102040810 0e0808080e 040a000000
-000000001f 0204000000 000e09091e 0101070907 000e01010e 08080e090e 060907010e 0c02070202 0e090e0806
-0101070909 0200020202 0800080806 0105030509 020202020c 001b151111 0007090909 0006090906 0007090701
-000e090e08 000e010101 000c020403 02020e021c 000909091e 0011110a04 001111151b 0009060609 00110a0403
-000f04020f 0c0406040c 0202020202 0302060203 0000061800
-`
-        }
-    }
-
-    export function setPixel(on: boolean, x: number, y: number) {
+    function setPixel(on: boolean, x: number, y: number) {
        x |= 0
        y |= 0
        if (0 <= x && x < DAL.LCD_WIDTH && 0 <= y && y < DAL.LCD_HEIGHT)
@ -123,6 +101,7 @@ namespace brick {
    //% weight=96 group="Screen" inlineInputMode="inline" blockGap=8
    //% line.min=1 line.max=10
    export function showValue(name: string, value: number, line: number) {
+        value = Math.round(value * 1000) / 1000;
        showString((name ? name + ": " : "") + value, line);        
    }

@ -162,12 +141,9 @@ namespace brick {
     */
    //% blockId=screen_show_image block="show image %image=screen_image_picker"
    //% weight=100 group="Screen" blockGap=8
-    export function showImage(image: Image, delay: number = 400) {
+    export function showImage(image: Image) {
        if (!image) return;
        image.draw(0, 0, Draw.Normal);
-        delay = Math.max(0, delay);
-        if (delay > 0)
-            loops.pause(delay);
    }

    /**
@ -192,7 +168,7 @@ namespace brick {
        screen.clear();
    }

-    export function drawRect(x: number, y: number, w: number, h: number, mode = Draw.Normal) {
+    function drawRect(x: number, y: number, w: number, h: number, mode = Draw.Normal) {
        x |= 0;
        y |= 0;
        w |= 0;
@ -237,25 +213,32 @@ namespace brick {
    //% blockId=brickPrintPorts block="print ports"
    //% weight=1 group="Screen"
    export function printPorts() {
+        const col = 44;
        clearScreen();

+        function scale(x: number) {
+            if (Math.abs(x) > 1000) return Math.round(x / 100) / 10 + "k";
+            return ("" + (x >> 0));
+        }
+
        // motors
        const datas = motors.getAllMotorData();
        for(let i = 0; i < datas.length; ++i) {
            const data = datas[i];
            if (!data.actualSpeed && !data.count) continue;
-            const x = i * 52;
-            print(`${data.actualSpeed}%`, x, brick.LINE_HEIGHT)
-            print(`${data.count}>`, x, 2 * brick.LINE_HEIGHT)
+            const x = i * col;
+            print(`${scale(data.actualSpeed)}%`, x, brick.LINE_HEIGHT)
+            print(`${scale(data.count)}>`, x, 2 * brick.LINE_HEIGHT)
+            print(`${scale(data.tachoCount)}|`, x, 3 * brick.LINE_HEIGHT)
        }

        // sensors
        const sis = sensors.internal.getActiveSensors();
        for(let i =0; i < sis.length; ++i) {
            const si = sis[i];
-            const x = (si.port() - 1) * 52;
+            const x = (si.port() - 1) * col;
            const v = si._query();
-            print(`${v}`, x, 9 * brick.LINE_HEIGHT)
+            print(`${scale(v)}`, x, 9 * brick.LINE_HEIGHT)
        }
    }
 }
--- a/libs/core/test.ts
+++ b/libs/core/test.ts
@ -2,7 +2,7 @@ screen.clear()
 brick.print("PXT!", 10, 30, Draw.Quad)

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

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

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

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

--- a/libs/ev3/ns.ts
+++ b/libs/ev3/ns.ts
@ -8,13 +8,13 @@ namespace brick {

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

 //% color="#A5CA18" weight=90 icon="\uf10d"
-//% groups='["Move", "Counters", "Measured Move"]'
+//% groups='["Move", "Counters"]'
 //% labelLineWidth=0
 namespace motors {
 }
--- a/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json
+++ b/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json
@ -1,5 +1,5 @@
 {
  "sensors.GyroSensor.angle": "Get the current angle 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."
+  "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
+  "sensors.GyroSensor.reset": "Forces a calibration of the gyro. Must be called when the sensor is completely still."
 }
--- a/libs/gyro-sensor/_locales/gyro-sensor-strings.json
+++ b/libs/gyro-sensor/_locales/gyro-sensor-strings.json
@ -1,7 +1,7 @@
 {
  "sensors.GyroSensor.angle|block": "%sensor|angle",
-  "sensors.GyroSensor.calibrate|block": "%sensor|calibrate",
-  "sensors.GyroSensor.rotationRate|block": "%sensor|rotation rate",
+  "sensors.GyroSensor.rate|block": "%sensor|rate",
+  "sensors.GyroSensor.reset|block": "%sensor|reset",
  "sensors.gyro1|block": "gyro 1",
  "sensors.gyro2|block": "gyro 2",
  "sensors.gyro3|block": "gyro 3",
--- a/libs/gyro-sensor/gyro.ts
+++ b/libs/gyro-sensor/gyro.ts
@ -31,7 +31,7 @@ namespace sensors {
        //% parts="gyroscope"
        //% blockNamespace=sensors
        //% sensor.fieldEditor="ports"
-        //% weight=65 blockGap=8
+        //% weight=64 blockGap=8
        //% group="Gyro Sensor"
        angle(): number {
            if (this.calibrating)
@ -45,15 +45,15 @@ namespace sensors {
         * Get the current rotation rate from the gyroscope.
         * @param sensor the gyroscope to query the request
         */
-        //% help=input/gyro/rotation-rate
-        //% block="%sensor|rotation rate"
+        //% help=input/gyro/rate
+        //% block="%sensor|rate"
        //% blockId=gyroGetRate
        //% parts="gyroscope"
        //% blockNamespace=sensors
        //% sensor.fieldEditor="ports"
        //% weight=65 blockGap=8        
        //% group="Gyro Sensor"
-        rotationRate(): number {
+        rate(): number {
            if (this.calibrating)
                pauseUntil(() => !this.calibrating, 2000);

@ -65,21 +65,21 @@ namespace sensors {
         * Forces a calibration of the gyro. Must be called when the sensor is completely still.
         */
        //% help=input/gyro/calibrate
-        //% block="%sensor|calibrate"
-        //% blockId=gyroCalibrate   
+        //% block="%sensor|reset"
+        //% blockId=gyroReset  
        //% parts="gyroscope"
        //% blockNamespace=sensors
        //% sensor.fieldEditor="ports"
-        //% weight=65 blockGap=8        
+        //% weight=50 blockGap=8        
        //% group="Gyro Sensor"
-        calibrate(): void {
+        reset(): 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();
+            super.reset();
            // we need to switch mode twice to perform a calibration
            if (this.mode == GyroSensorMode.Rate)
                this.setMode(GyroSensorMode.Angle);
@ -90,7 +90,9 @@ namespace sensors {
                this.setMode(GyroSensorMode.Angle);
            else
                this.setMode(GyroSensorMode.Rate);
-            this.calibrating = false;
+            // give it more time to settle
+            loops.pause(500);
+            this.calibrating = false;            
        }
    }

--- a/libs/infrared-sensor/_locales/infrared-sensor-jsdoc-strings.json
+++ b/libs/infrared-sensor/_locales/infrared-sensor-jsdoc-strings.json
@ -4,6 +4,9 @@
  "sensors.InfraredSensor.pauseUntil": "Waits for the event to occur",
  "sensors.InfraredSensor.proximity": "Get the promixity measured by the infrared sensor, from ``0`` (close) to ``100`` (far)",
  "sensors.InfraredSensor.remoteCommand": "Get the remote commandreceived the infrared sensor.",
+  "sensors.InfraredSensor.setThreshold": "Sets a threshold value",
+  "sensors.InfraredSensor.setThreshold|param|condition": "the dark or bright light condition",
+  "sensors.InfraredSensor.setThreshold|param|value": "the value threshold",
  "sensors.RemoteInfraredBeaconButton.isPressed": "Check if a remote button is currently pressed or not.",
  "sensors.RemoteInfraredBeaconButton.onEvent": "Do something when a button or sensor is clicked, up or down",
  "sensors.RemoteInfraredBeaconButton.onEvent|param|body": "code to run when the event is raised",
--- a/libs/infrared-sensor/_locales/infrared-sensor-strings.json
+++ b/libs/infrared-sensor/_locales/infrared-sensor-strings.json
@ -5,6 +5,7 @@
  "sensors.InfraredSensor.pauseUntil|block": "pause until %sensor| %event",
  "sensors.InfraredSensor.proximity|block": "%sensor|proximity",
  "sensors.InfraredSensor.remoteCommand|block": "%sensor|remote command",
+  "sensors.InfraredSensor.setThreshold|block": "set %sensor|%condition|to %value",
  "sensors.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed",
  "sensors.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event",
  "sensors.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed",
@ -20,5 +21,6 @@
  "sensors|block": "sensors",
  "{id:category}Sensors": "Sensors",
  "{id:group}Infrared Sensor": "Infrared Sensor",
-  "{id:group}Remote Infrared Beacon": "Remote Infrared Beacon"
+  "{id:group}Remote Infrared Beacon": "Remote Infrared Beacon",
+  "{id:group}Threshold": "Threshold"
 }
--- a/libs/infrared-sensor/ir.ts
+++ b/libs/infrared-sensor/ir.ts
@ -250,6 +250,22 @@ namespace sensors {
            this._setMode(IrSensorMode.Seek)
            return this.getNumber(NumberFormat.UInt16LE, this.channel * 2)
        }
+
+
+        /**
+         * Sets a threshold value
+         * @param condition the dark or bright light condition
+         * @param value the value threshold
+         */
+        //% blockId=irSetThreshold block="set %sensor|%condition|to %value"
+        //% group="Threshold" blockGap=8
+        //% value.min=0 value.max=100
+        setThreshold(condition: InfraredSensorEvent, value: number) {
+            if (condition == InfraredSensorEvent.ObjectNear)
+                this.proximityThreshold.setLowThreshold(value)
+            else
+                this.proximityThreshold.setHighThreshold(value);
+        }
    }

    //% fixedInstance whenUsed block="infrared 1" jres=icons.port1
--- a/libs/music/_locales/music-strings.json
+++ b/libs/music/_locales/music-strings.json
@ -33,34 +33,34 @@
  "music.stopAllSounds|block": "stop all sounds",
  "music.tempo|block": "tempo (bpm)",
  "music|block": "music",
-  "sounds.animalsCatPurr|block": "Animals cat purr",
-  "sounds.animalsDogBark1|block": "Animals dog bark 1",
-  "sounds.animalsDogBark2|block": "Animals dog bark 2",
-  "sounds.animalsDogGrowl|block": "Animals dog growl",
-  "sounds.animalsDogSniff|block": "Animals dog sniff",
-  "sounds.animalsDogWhine|block": "Animals dog whine",
-  "sounds.animalsElephantCall|block": "Animals elephant call",
-  "sounds.animalsInsectBuzz1|block": "Animals insect buzz1",
-  "sounds.animalsInsectBuzz2|block": "Animals insect buzz2",
-  "sounds.animalsInsectChirp|block": "Animals insect chirp",
-  "sounds.animalsSnakeHiss|block": "Animals snake hiss",
-  "sounds.animalsSnakeRattle|block": "Animals snake rattle",
-  "sounds.animalsTRexRoar|block": "Animals trex roar",
-  "sounds.colorsBlack|block": "Colors black",
-  "sounds.colorsBlue|block": "Colors blue",
-  "sounds.colorsBrown|block": "Colors brown",
-  "sounds.colorsGreen|block": "Colors green",
-  "sounds.colorsRed|block": "Colors red",
-  "sounds.colorsWhite|block": "Colors white",
-  "sounds.colorsYellow|block": "Colors yellow",
-  "sounds.communicationBravo|block": "Communication bravo",
-  "sounds.communicationEv3|block": "Communication ev3",
-  "sounds.communicationFantastic|block": "Communication fantastic",
-  "sounds.communicationGameOver|block": "Communication game over",
+  "sounds.animalsCatPurr|block": "animals cat purr",
+  "sounds.animalsDogBark1|block": "animals dog bark 1",
+  "sounds.animalsDogBark2|block": "animals dog bark 2",
+  "sounds.animalsDogGrowl|block": "animals dog growl",
+  "sounds.animalsDogSniff|block": "animals dog sniff",
+  "sounds.animalsDogWhine|block": "animals dog whine",
+  "sounds.animalsElephantCall|block": "animals elephant call",
+  "sounds.animalsInsectBuzz1|block": "animals insect buzz1",
+  "sounds.animalsInsectBuzz2|block": "animals insect buzz2",
+  "sounds.animalsInsectChirp|block": "animals insect chirp",
+  "sounds.animalsSnakeHiss|block": "animals snake hiss",
+  "sounds.animalsSnakeRattle|block": "animals snake rattle",
+  "sounds.animalsTRexRoar|block": "animals trex roar",
+  "sounds.colorsBlack|block": "colors black",
+  "sounds.colorsBlue|block": "colors blue",
+  "sounds.colorsBrown|block": "colors brown",
+  "sounds.colorsGreen|block": "colors green",
+  "sounds.colorsRed|block": "colors red",
+  "sounds.colorsWhite|block": "colors white",
+  "sounds.colorsYellow|block": "colors yellow",
+  "sounds.communicationBravo|block": "communication bravo",
+  "sounds.communicationEv3|block": "communication ev3",
+  "sounds.communicationFantastic|block": "communication fantastic",
+  "sounds.communicationGameOver|block": "communication game over",
  "sounds.communicationGoodJob|block": "communicationGoodJob",
  "sounds.communicationGoodbye|block": "communication goodbye",
  "sounds.communicationGood|block": "communication good",
-  "sounds.communicationGo|block": "Communication go",
+  "sounds.communicationGo|block": "communication go",
  "sounds.communicationHello|block": "communication hello",
  "sounds.communicationHi|block": "communication hi",
  "sounds.communicationLego|block": "communication lego",
@ -159,7 +159,7 @@
  "sounds.systemOverpower|block": "system overpower",
  "sounds.systemPowerDown|block": "system power down",
  "sounds.systemReady|block": "system ready",
-  "sounds.systemStartUp|block": "S",
+  "sounds.systemStartUp|block": "system start up",
  "{id:category}Music": "Music",
  "{id:category}Sound": "Sound",
  "{id:category}Sounds": "Sounds"
--- a/libs/music/sounds.ts
+++ b/libs/music/sounds.ts
@ -1,53 +1,53 @@
 namespace sounds {
-    //% fixedInstance jres block="Animals cat purr"
+    //% fixedInstance jres block="animals cat purr"
    export const animalsCatPurr = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals dog bark 1"
+    //% fixedInstance jres block="animals dog bark 1"
    export const animalsDogBark1 = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals dog bark 2"
+    //% fixedInstance jres block="animals dog bark 2"
    export const animalsDogBark2 = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals dog growl"
+    //% fixedInstance jres block="animals dog growl"
    export const animalsDogGrowl = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals dog sniff"
+    //% fixedInstance jres block="animals dog sniff"
    export const animalsDogSniff = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals dog whine"
+    //% fixedInstance jres block="animals dog whine"
    export const animalsDogWhine = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals elephant call"
+    //% fixedInstance jres block="animals elephant call"
    export const animalsElephantCall = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals insect buzz1"
+    //% fixedInstance jres block="animals insect buzz1"
    export const animalsInsectBuzz1 = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals insect buzz2"
+    //% fixedInstance jres block="animals insect buzz2"
    export const animalsInsectBuzz2 = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals insect chirp"
+    //% fixedInstance jres block="animals insect chirp"
    export const animalsInsectChirp = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals snake hiss"
+    //% fixedInstance jres block="animals snake hiss"
    export const animalsSnakeHiss = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals snake rattle"
+    //% fixedInstance jres block="animals snake rattle"
    export const animalsSnakeRattle = music.fromWAV(hex``);
-    //% fixedInstance jres block="Animals trex roar"
+    //% fixedInstance jres block="animals trex roar"
    export const animalsTRexRoar = music.fromWAV(hex``);
-    //% fixedInstance jres block="Colors black"
+    //% fixedInstance jres block="colors black"
    export const colorsBlack = music.fromWAV(hex``);
-    //% fixedInstance jres block="Colors blue"
+    //% fixedInstance jres block="colors blue"
    export const colorsBlue = music.fromWAV(hex``);
-    //% fixedInstance jres block="Colors brown"
+    //% fixedInstance jres block="colors brown"
    export const colorsBrown = music.fromWAV(hex``);
-    //% fixedInstance jres block="Colors green"
+    //% fixedInstance jres block="colors green"
    export const colorsGreen = music.fromWAV(hex``);
-    //% fixedInstance jres block="Colors red"
+    //% fixedInstance jres block="colors red"
    export const colorsRed = music.fromWAV(hex``);
-    //% fixedInstance jres block="Colors white"
+    //% fixedInstance jres block="colors white"
    export const colorsWhite = music.fromWAV(hex``);
-    //% fixedInstance jres block="Colors yellow"
+    //% fixedInstance jres block="colors yellow"
    export const colorsYellow = music.fromWAV(hex``);
-    //% fixedInstance jres block="Communication bravo"
+    //% fixedInstance jres block="communication bravo"
    export const communicationBravo = music.fromWAV(hex``);
-    //% fixedInstance jres block="Communication ev3"
+    //% fixedInstance jres block="communication ev3"
    export const communicationEv3 = music.fromWAV(hex``);
-    //% fixedInstance jres block="Communication fantastic"
+    //% fixedInstance jres block="communication fantastic"
    export const communicationFantastic = music.fromWAV(hex``);
-    //% fixedInstance jres block="Communication game over"
+    //% fixedInstance jres block="communication game over"
    export const communicationGameOver = music.fromWAV(hex``);
-    //% fixedInstance jres block="Communication go"
+    //% fixedInstance jres block="communication go"
    export const communicationGo = music.fromWAV(hex``);
    //% fixedInstance jres block="communicationGoodJob"
    export const communicationGoodJob = music.fromWAV(hex``);
@ -251,7 +251,7 @@ namespace sounds {
    export const systemPowerDown = music.fromWAV(hex``);
    //% fixedInstance jres block="system ready"
    export const systemReady = music.fromWAV(hex``);
-    //% fixedInstance jres block=S
+    //% fixedInstance jres block="system start up"
    export const systemStartUp = music.fromWAV(hex``);
 }

--- a/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json
+++ b/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json
@ -2,5 +2,8 @@
  "sensors.UltraSonicSensor.distance": "Gets the distance from the sonar in centimeters",
  "sensors.UltraSonicSensor.onEvent": "Registers code to run when the given color is close",
  "sensors.UltraSonicSensor.onEvent|param|handler": "the code to run when detected",
-  "sensors.UltraSonicSensor.pauseUntil": "Waits for the event to occur"
+  "sensors.UltraSonicSensor.pauseUntil": "Waits for the event to occur",
+  "sensors.UltraSonicSensor.setThreshold": "Sets a threshold value",
+  "sensors.UltraSonicSensor.setThreshold|param|condition": "the dark or bright light condition",
+  "sensors.UltraSonicSensor.setThreshold|param|value": "the value threshold"
 }
--- a/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
+++ b/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
@ -5,10 +5,12 @@
  "sensors.UltraSonicSensor.distance|block": "%sensor|distance",
  "sensors.UltraSonicSensor.onEvent|block": "on %sensor|%event",
  "sensors.UltraSonicSensor.pauseUntil|block": "pause until %sensor| %event",
+  "sensors.UltraSonicSensor.setThreshold|block": "set %sensor|%condition|to %value",
  "sensors.ultrasonic1|block": "ultrasonic 1",
  "sensors.ultrasonic2|block": "ultrasonic 2",
  "sensors.ultrasonic3|block": "ultrasonic 3",
  "sensors.ultrasonic4|block": "ultrasonic 4",
  "{id:category}Sensors": "Sensors",
+  "{id:group}Threshold": "Threshold",
  "{id:group}Ultrasonic Sensor": "Ultrasonic Sensor"
 }
--- a/libs/ultrasonic-sensor/ultrasonic.ts
+++ b/libs/ultrasonic-sensor/ultrasonic.ts
@ -85,6 +85,23 @@ namespace sensors {
            this._setMode(0)
            return this._query();
        }
+
+
+        /**
+         * Sets a threshold value
+         * @param condition the dark or bright light condition
+         * @param value the value threshold
+         */
+        //% blockId=ultrasonicSetThreshold block="set %sensor|%condition|to %value"
+        //% group="Threshold" blockGap=8
+        //% value.min=0 value.max=255
+        setThreshold(condition: UltrasonicSensorEvent, value: number) {            
+            switch(condition) {
+                case UltrasonicSensorEvent.ObjectNear: this.promixityThreshold.setLowThreshold(value); break;
+                case UltrasonicSensorEvent.ObjectFar: this.promixityThreshold.setHighThreshold(value); break;
+                case UltrasonicSensorEvent.ObjectDetected: this.movementThreshold = value; break;
+            }
+        }
    }
  
    //% fixedInstance whenUsed block="ultrasonic 4" jres=icons.port4
--- a/package-lock.json
+++ b/package-lock.json
@ -1,6 +1,6 @@
 {
  "name": "pxt-ev3",
-  "version": "0.0.51",
+  "version": "0.0.59",
  "lockfileVersion": 1,
  "requires": true,
  "dependencies": {
@ -399,7 +399,7 @@
      "integrity": "sha1-IeCr+vbyApzy+vsTNWenAdQTVSQ=",
      "requires": {
        "bn.js": "4.11.8",
-        "randombytes": "2.0.5"
+        "randombytes": "2.0.6"
      }
    },
    "browserify-sign": {
@ -792,7 +792,7 @@
        "inherits": "2.0.3",
        "pbkdf2": "3.0.14",
        "public-encrypt": "4.0.0",
-        "randombytes": "2.0.5",
+        "randombytes": "2.0.6",
        "randomfill": "1.0.3"
      }
    },
@ -956,7 +956,7 @@
      "requires": {
        "bn.js": "4.11.8",
        "miller-rabin": "4.0.1",
-        "randombytes": "2.0.5"
+        "randombytes": "2.0.6"
      }
    },
    "domain-browser": {
@ -1009,9 +1009,9 @@
      }
    },
    "end-of-stream": {
-      "version": "1.4.0",
-      "resolved": "https://registry.npmjs.org/end-of-stream/-/end-of-stream-1.4.0.tgz",
-      "integrity": "sha1-epDYM+/abPpurA9JSduw+tOmMgY=",
+      "version": "1.4.1",
+      "resolved": "https://registry.npmjs.org/end-of-stream/-/end-of-stream-1.4.1.tgz",
+      "integrity": "sha512-1MkrZNvWTKCaigbn+W15elq2BB/L22nqrSY5DKlo3X6+vclJm8Bb5djXJBmEX6fS3+zCh/F4VBK5Z2KxJt4s2Q==",
      "requires": {
        "once": "1.4.0"
      }
@ -1562,6 +1562,15 @@
        "verror": "1.10.0"
      }
    },
+    "keytar": {
+      "version": "3.0.2",
+      "resolved": "https://registry.npmjs.org/keytar/-/keytar-3.0.2.tgz",
+      "integrity": "sha1-TcFd01I/4wYx+dOIV4pAFRpgWG8=",
+      "optional": true,
+      "requires": {
+        "nan": "2.3.2"
+      }
+    },
    "kind-of": {
      "version": "3.2.2",
      "resolved": "https://registry.npmjs.org/kind-of/-/kind-of-3.2.2.tgz",
@ -1833,9 +1842,9 @@
      "integrity": "sha1-WQTcU3w57G2+/q6QIycTX6hRHxI="
    },
    "marked": {
-      "version": "0.3.9",
-      "resolved": "https://registry.npmjs.org/marked/-/marked-0.3.9.tgz",
-      "integrity": "sha512-nW5u0dxpXxHfkHzzrveY45gCbi+R4PaO4WRZYqZNl+vB0hVGeqlFn0aOg1c8AKL63TrNFn9Bm2UP4AdiZ9TPLw=="
+      "version": "0.3.12",
+      "resolved": "https://registry.npmjs.org/marked/-/marked-0.3.12.tgz",
+      "integrity": "sha512-k4NaW+vS7ytQn6MgJn3fYpQt20/mOgYM5Ft9BYMfQJDz2QT6yEeS9XJ8k2Nw8JTeWK/znPPW2n3UJGzyYEiMoA=="
    },
    "math-expression-evaluator": {
      "version": "1.2.17",
@ -1966,8 +1975,7 @@
    "nan": {
      "version": "2.3.2",
      "resolved": "https://registry.npmjs.org/nan/-/nan-2.3.2.tgz",
-      "integrity": "sha1-TU7PF+HaTpie+08nPY0AIBytCH4=",
-      "dev": true
+      "integrity": "sha1-TU7PF+HaTpie+08nPY0AIBytCH4="
    },
    "neatequal": {
      "version": "1.0.0",
@ -2510,7 +2518,7 @@
        "npmlog": "4.1.2",
        "os-homedir": "1.0.2",
        "pump": "1.0.3",
-        "rc": "1.2.2",
+        "rc": "1.2.3",
        "simple-get": "1.4.3",
        "tar-fs": "1.16.0",
        "tunnel-agent": "0.6.0",
@ -2558,7 +2566,7 @@
        "browserify-rsa": "4.0.1",
        "create-hash": "1.1.3",
        "parse-asn1": "5.1.0",
-        "randombytes": "2.0.5"
+        "randombytes": "2.0.6"
      }
    },
    "pump": {
@ -2566,7 +2574,7 @@
      "resolved": "https://registry.npmjs.org/pump/-/pump-1.0.3.tgz",
      "integrity": "sha512-8k0JupWme55+9tCVE+FS5ULT3K6AbgqrGa58lTT49RpyfwwcGedHqaC5LlQNdEAumn/wFsu6aPwkuPMioy8kqw==",
      "requires": {
-        "end-of-stream": "1.4.0",
+        "end-of-stream": "1.4.1",
        "once": "1.4.0"
      }
    },
@ -2576,19 +2584,19 @@
      "integrity": "sha1-wNWmOycYgArY4esPpSachN1BhF4="
    },
    "pxt-common-packages": {
-      "version": "0.14.13",
-      "resolved": "https://registry.npmjs.org/pxt-common-packages/-/pxt-common-packages-0.14.13.tgz",
-      "integrity": "sha1-L/axrdv7I1g6xjGC8JXNx/Bv0Ss=",
+      "version": "0.15.4",
+      "resolved": "https://registry.npmjs.org/pxt-common-packages/-/pxt-common-packages-0.15.4.tgz",
+      "integrity": "sha1-hI1q5+UQ7vIuBqlOrIy66PmiePo=",
      "requires": {
        "autoprefixer": "6.7.7",
-        "pxt-core": "3.0.2",
+        "pxt-core": "3.0.8",
        "rtlcss": "2.2.1"
      }
    },
    "pxt-core": {
-      "version": "3.0.2",
-      "resolved": "https://registry.npmjs.org/pxt-core/-/pxt-core-3.0.2.tgz",
-      "integrity": "sha1-q7aCkAXRwvsmhPaeHR1S9osLK98=",
+      "version": "3.0.8",
+      "resolved": "https://registry.npmjs.org/pxt-core/-/pxt-core-3.0.8.tgz",
+      "integrity": "sha1-wmvgLvyX1lV5ZB6EM9APj22/gIo=",
      "requires": {
        "bluebird": "3.5.1",
        "browserify": "13.3.0",
@ -2596,15 +2604,16 @@
        "faye-websocket": "0.11.1",
        "fuse.js": "2.6.1",
        "highlight.js": "9.12.0",
+        "keytar": "3.0.2",
        "lzma": "2.3.2",
-        "marked": "0.3.9",
+        "marked": "0.3.12",
        "node-hid": "0.5.7",
-        "postcss": "6.0.15",
+        "postcss": "6.0.16",
        "request": "2.83.0",
        "rimraf": "2.5.4",
        "rtlcss": "2.2.1",
        "serialport": "4.0.7",
-        "uglify-js": "3.3.4"
+        "uglify-js": "3.3.5"
      },
      "dependencies": {
        "ansi-styles": {
@ -2641,9 +2650,9 @@
          "integrity": "sha1-6CB68cx7MNRGzHC3NLXovhj4jVE="
        },
        "postcss": {
-          "version": "6.0.15",
-          "resolved": "https://registry.npmjs.org/postcss/-/postcss-6.0.15.tgz",
-          "integrity": "sha512-v/SpyMzLbtkmh45zUdaqLAaqXqzPdSrw8p4cQVO0/w6YiYfpj4k+Wkzhn68qk9br+H+0qfddhdPEVnbmBPfXVQ==",
+          "version": "6.0.16",
+          "resolved": "https://registry.npmjs.org/postcss/-/postcss-6.0.16.tgz",
+          "integrity": "sha512-m758RWPmSjFH/2MyyG3UOW1fgYbR9rtdzz5UNJnlm7OLtu4B2h9C6gi+bE4qFKghsBRFfZT8NzoQBs6JhLotoA==",
          "requires": {
            "chalk": "2.3.0",
            "source-map": "0.6.1",
@ -2695,9 +2704,9 @@
      "integrity": "sha1-nsYfeQSYdXB9aUFFlv2Qek1xHnM="
    },
    "randombytes": {
-      "version": "2.0.5",
-      "resolved": "https://registry.npmjs.org/randombytes/-/randombytes-2.0.5.tgz",
-      "integrity": "sha512-8T7Zn1AhMsQ/HI1SjcCfT/t4ii3eAqco3yOcSzS4mozsOz69lHLsoMXmF9nZgnFanYscnSlUSgs8uZyKzpE6kg==",
+      "version": "2.0.6",
+      "resolved": "https://registry.npmjs.org/randombytes/-/randombytes-2.0.6.tgz",
+      "integrity": "sha512-CIQ5OFxf4Jou6uOKe9t1AOgqpeU5fd70A8NPdHSGeYXqXsPe6peOwI0cUl88RWZ6sP1vPMV3avd/R6cZ5/sP1A==",
      "requires": {
        "safe-buffer": "5.1.1"
      }
@ -2707,14 +2716,14 @@
      "resolved": "https://registry.npmjs.org/randomfill/-/randomfill-1.0.3.tgz",
      "integrity": "sha512-YL6GrhrWoic0Eq8rXVbMptH7dAxCs0J+mh5Y0euNekPPYaxEmdVGim6GdoxoRzKW2yJoU8tueifS7mYxvcFDEQ==",
      "requires": {
-        "randombytes": "2.0.5",
+        "randombytes": "2.0.6",
        "safe-buffer": "5.1.1"
      }
    },
    "rc": {
-      "version": "1.2.2",
-      "resolved": "https://registry.npmjs.org/rc/-/rc-1.2.2.tgz",
-      "integrity": "sha1-2M6ctX6NZNnHut2YdsfDTL48cHc=",
+      "version": "1.2.3",
+      "resolved": "https://registry.npmjs.org/rc/-/rc-1.2.3.tgz",
+      "integrity": "sha1-UVdakA+N1oOBxxC0cSwhVMPiA1s=",
      "optional": true,
      "requires": {
        "deep-extend": "0.4.2",
@ -4310,7 +4319,7 @@
      "optional": true,
      "requires": {
        "bl": "1.2.1",
-        "end-of-stream": "1.4.0",
+        "end-of-stream": "1.4.1",
        "readable-stream": "2.3.3",
        "xtend": "4.0.1"
      }
@ -4422,9 +4431,9 @@
      "dev": true
    },
    "uglify-js": {
-      "version": "3.3.4",
-      "resolved": "https://registry.npmjs.org/uglify-js/-/uglify-js-3.3.4.tgz",
-      "integrity": "sha512-hfIwuAQI5dlXP30UtdmWoYF9k+ypVqBXIdmd6ZKBiaNHHvA8ty7ZloMe3+7S5AEKVkxHbjByl4DfRHQ7QpZquw==",
+      "version": "3.3.5",
+      "resolved": "https://registry.npmjs.org/uglify-js/-/uglify-js-3.3.5.tgz",
+      "integrity": "sha512-ZebM2kgBL/UI9rKeAbsS2J0UPPv7SBy5hJNZml/YxB1zC6JK8IztcPs+cxilE4pu0li6vadVSFqiO7xFTKuSrg==",
      "requires": {
        "commander": "2.12.2",
        "source-map": "0.6.1"
--- a/package.json
+++ b/package.json
@ -1,6 +1,6 @@
 {
  "name": "pxt-ev3",
-  "version": "0.0.56",
+  "version": "0.0.60",
  "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
  "private": true,
  "keywords": [
@ -45,7 +45,7 @@
  },
  "dependencies": {
    "pxt-common-packages": "0.15.4",
-    "pxt-core": "3.0.5"
+    "pxt-core": "3.0.8"
  },
  "scripts": {
    "test": "node node_modules/pxt-core/built/pxt.js travis"
--- a/sim/state/analog.ts
+++ b/sim/state/analog.ts
@ -30,8 +30,8 @@ namespace pxsim {
                data,
                beforeMemRead: () => {
                    //console.log("analog before read");
-                    data[AnalogOff.BatteryTemp] = 21; // TODO simulate this
-                    data[AnalogOff.BatteryCurrent] = 100; // TODO simulate this
+                    util.map16Bit(data, AnalogOff.BatteryTemp, 21);
+                    util.map16Bit(data, AnalogOff.BatteryCurrent, 900);
                    const inputNodes = ev3board().getInputNodes();
                    for (let port = 0; port < DAL.NUM_INPUTS; port++) {
                        const node = inputNodes[port];
--- a/sim/state/motornode.ts
+++ b/sim/state/motornode.ts
@ -40,6 +40,10 @@ namespace pxsim {
        }

        setSpeedCmd(cmd: DAL, values: number[]) {
+            if (this.speedCmd != cmd ||
+                JSON.stringify(this.speedCmdValues) != JSON.stringify(values))
+                this.setChangedState();    
+            // new command TODO: values
            this.speedCmd = cmd;
            this.speedCmdValues = values;
            this.speedCmdTacho = this.angle;
--- a/sim/visuals/board.ts
+++ b/sim/visuals/board.ts
@ -50,6 +50,15 @@ namespace pxsim.visuals {
            fill:#5A5A5A;
        }

+        .no-drag, .sim-text, .sim-text-pin {
+            user-drag: none;
+            user-select: none;
+            -moz-user-select: none;
+            -webkit-user-drag: none;
+            -webkit-user-select: none;
+            -ms-user-select: none;
+        }
+
        /* Color Grid */
        .sim-color-grid-circle:hover {
            stroke-width: 0.4;
--- a/sim/visuals/layoutView.ts
+++ b/sim/visuals/layoutView.ts
@ -173,15 +173,15 @@ namespace pxsim.visuals {
            }

            // Inject all ports
-            this.setInput(0, new PortView(0, 'A'));
-            this.setInput(1, new PortView(1, 'B'));
-            this.setInput(2, new PortView(2, 'C'));
-            this.setInput(3, new PortView(3, 'D'));
+            this.setInput(0, new PortView(0, '1'));
+            this.setInput(1, new PortView(1, '2'));
+            this.setInput(2, new PortView(2, '3'));
+            this.setInput(3, new PortView(3, '4'));

-            this.setOutput(0, new PortView(0, '1'));
-            this.setOutput(1, new PortView(1, '2'));
-            this.setOutput(2, new PortView(2, '3'));
-            this.setOutput(3, new PortView(3, '4'));
+            this.setOutput(0, new PortView(0, 'A'));
+            this.setOutput(1, new PortView(1, 'B'));
+            this.setOutput(2, new PortView(2, 'C'));
+            this.setOutput(3, new PortView(3, 'D'));

            return this.contentGroup;
        }
--- a/sim/visuals/nodes/largeMotorView.ts
+++ b/sim/visuals/nodes/largeMotorView.ts
@ -34,14 +34,14 @@ namespace pxsim.visuals {
            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'});
+            const leftLabel = pxsim.svg.child(this.syncedLabelG, 'text', {'transform': 'translate(11, 22)', 'class': 'no-drag', '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'});
+            const rightLabel = pxsim.svg.child(this.syncedLabelG, 'text', {'transform': 'translate(61, 22)', 'class': 'no-drag', 'style': 'isolation: isolate;font-size: 16px;fill: #A8A9A8;font-family: ArialMT, Arial'});
            rightLabel.textContent = b;
        }

--- a/theme/blockly.less
+++ b/theme/blockly.less
@ -18,7 +18,7 @@
 }

 .blocklyFlyoutLabel .blocklyFlyoutLabelIcon {
-    font-family: 'legoIcons';
+    font-family: 'legoIcons' !important;
 }

 span.blocklyTreeIcon {
Author	SHA1	Message	Date
Peli de Halleux	3cee55f4c2	0.0.60	2018-01-11 13:43:41 -08:00
Peli de Halleux	3815d2fd3b	simplifiying brick light api (#231 )	2018-01-11 13:43:11 -08:00
Peli de Halleux	1453b7e0a3	gyro reset fix	2018-01-11 11:17:23 -08:00
Peli de Halleux	6fb5c54280	fix build break	2018-01-11 08:55:31 -08:00
Peli de Halleux	9d5ca35e83	fix battery encoding	2018-01-11 08:47:09 -08:00
Peli de Halleux	893dd0f9c4	rename "enter..." to "button enter"	2018-01-11 08:28:25 -08:00
Peli de Halleux	c3419c0b74	support for unregulated motors (#227 )	2018-01-10 23:34:27 -08:00
Peli de Halleux	a4164470d8	updated api to align with labview	2018-01-10 22:29:35 -08:00
Sam El-Husseini	54cb076002	Merge pull request #226 from Microsoft/legoavatar Add lego avatar	2018-01-10 13:03:15 -08:00
Sam El-Husseini	dbd3eb464b	Add lego avatar	2018-01-10 12:59:53 -08:00
Peli de Halleux	fddc4e647a	0.0.59	2018-01-10 12:52:48 -08:00
Peli de Halleux	798a351f15	updated package lock	2018-01-10 12:52:36 -08:00
Peli de Halleux	e61dffff03	fixing threshold	2018-01-10 11:45:08 -08:00
Peli de Halleux	b9f5096480	pause until motor measured move is done	2018-01-10 11:29:27 -08:00
Peli de Halleux	9912d68c8b	fixing chassis	2018-01-10 11:14:25 -08:00
Peli de Halleux	951b9be6e4	fixing motors	2018-01-10 11:14:18 -08:00
Sam El-Husseini	f64bf57000	Merge master	2018-01-10 09:56:32 -08:00
Sam El-Husseini	f1242724b5	Fix legofont icons	2018-01-10 09:55:58 -08:00
Peli de Halleux	cd0c9df86e	bump to 3.0.8	2018-01-10 08:58:54 -08:00
Peli de Halleux	337d42287a	0.0.58	2018-01-09 22:14:43 -08:00
Peli de Halleux	ce3383f1b7	Turn ratio field editor (#225 ) * Turn ratio field editor (initial draft) * Add field turn ratio editor * Fix arrow rotation * Fix left and right direction, remove unnecessary SVG circles. * Update UI a little. add marker. * updated math for turnratio angle * slightly cuter * cleanup * consistent naming * more cleanup * fixing motor node issue * updated package version	2018-01-09 22:05:26 -08:00
Sam El-Husseini	e51721303a	Merge pull request #224 from Microsoft/fixportlabels Fix port labels in the simulator.	2018-01-09 14:43:26 -08:00
Sam El-Husseini	50f6c77fdb	Fix port labels in the simulator. Fixes #219	2018-01-09 14:43:01 -08:00
Peli de Halleux	5ed0135124	cleaning up images (#223 ) * cleaning up images * extra comma	2018-01-09 12:51:44 -08:00
Peli de Halleux	892a2d585f	Thresholds (#222 ) * add threshold blocks * updated strings * added gap * reorg color/gyro blocks * fixing sound names * adding stop block * fixing exanmples	2018-01-09 12:46:48 -08:00
Sam El-Husseini	9890f2340a	Add no-drag class and set on synced motor labels. Fixes #213 (#221 )	2018-01-09 12:04:37 -08:00
Sam El-Husseini	109b809909	Sort field port values. Fixes #212 (#220 )	2018-01-09 12:01:42 -08:00
Peli de Halleux	9cbf5efd7e	0.0.57	2018-01-08 22:01:11 -08:00
Peli de Halleux	a27a7fcd55	removing measured overloads until blocks support (#215 )	2018-01-08 15:27:37 -08:00
Peli de Halleux	85263fb84d	Merge branch 'master' of https://github.com/Microsoft/pxt-ev3	2018-01-08 15:13:20 -08:00
Peli de Halleux	b5ad898c9e	Screentweak (#214 ) * adding pid * hiding functions * precision of value	2018-01-08 15:00:00 -08:00
Peli de Halleux	456df3c442	Merge branch 'master' of https://github.com/microsoft/pxt-ev3	2018-01-08 14:43:19 -08:00
Peli de Halleux	1552eb05b4	matter most info	2018-01-08 14:43:15 -08:00
Peli de Halleux	d60e2c4a7d	adding pid	2018-01-08 14:36:34 -08:00
Peli de Halleux	f4b78c3ee7	PID example	2018-01-08 14:06:39 -08:00
Peli de Halleux	dd5e1957d5	fix coding page	2018-01-08 14:06:29 -08:00
Peli de Halleux	d61a63f70a	avoid overlaps in port view	2018-01-08 09:08:59 -08:00
Peli de Halleux	4207bd06c0	removing microbit font	2018-01-08 08:53:03 -08:00