0.0.68

* handle registerion of dual / single motors

* updated puppy

docs/examples/core-set/gyroboy-labview.md

@@ -0,0 +1,215 @@
+# Gyroboy LabView
+
+```typescript
+let mSum = 0;
+let mPos = 0;
+let mSpd = 0;
+let mD = 0;
+let mDP1 = 0;
+let mDP2 = 0;
+let mDP3 = 0;
+let Crdv = 0;
+let cLo = 0;
+let gAng = 0;
+let ok = false;
+let pwr = 0;
+let Cstr = 0;
+let Cdrv = 0;
+let gMn = 0;
+let gMx = 0;
+let gSum = 0;
+let gyro = 0;
+let gOS = 0;
+let gSpd = 0;
+let tInt = 0.014;
+let lpwr = 0
+let rpwr = 0
+let tStart = 0
+let st = 0
+let oldDr = 0
+
+function RST() {
+    motors.largeA.reset()
+    motors.largeD.reset()
+    motors.largeA.setRegulated(false)
+    motors.largeD.setRegulated(false)
+    sensors.gyro2.reset()
+    sensors.gyro2.rate()
+    control.timer2.reset()
+    loops.pause(5000)
+    mSum = 0;
+    mPos = 0;
+    mD = 0;
+    mDP1 = 0;
+    mDP2 = 0;
+    mDP3 = 0;
+    Crdv = 0;
+    cLo = 0;
+    gAng = 0;
+    ok = false;
+    pwr = 0;
+    st = 0;
+    Cstr = 0;
+    Cdrv = 0;
+}
+
+function OS() {
+    // OSL
+    do {
+        gMn = 1000;
+        gMx = -100;
+        gSum = 0;
+        // gChk
+        for (let i = 0; i < 200; i++) {
+            gyro = sensors.gyro2.rate()
+            gSum = gyro;
+            gMx = Math.max(gMx, gyro)
+            gMn = Math.min(gMn, gyro)
+            loops.pause(4);
+        }
+    } while (gMx - gMn > 2);
+    gOS = gSum / 200;
+}
+
+function GT() {
+    if (cLo == 0) {
+        tInt = 0.014;
+        control.timer1.reset();
+    } else {
+        tInt = control.timer1.seconds() / cLo;
+    }
+    cLo++;
+}
+
+function GG() {
+    gyro = sensors.gyro2.rate();
+    gOS = 0.0005 * gyro + (1 - 0.0005) * gOS
+    gSpd = gyro - gOS;
+    gAng = gAng + tInt * gSpd;
+}
+
+function GM() {
+    let temp = mSum
+    mSum = motors.largeD.angle() + motors.largeA.angle();
+    mD = mSum - temp;
+    mPos = mPos + mD;
+    mSpd = ((mDP1 + mDP2 + mDP3 + mD) / 4) / tInt;
+    mDP3 = mDP2;
+    mDP2 = mDP1;
+    mDP1 = mD;
+}
+
+function EQ() {
+    mPos = mPos - Cdrv * tInt;
+    pwr = (0.8 * gSpd + 15 * gAng) + (0.08 * mSpd + 0.12 * mPos) - 0.01 * Cdrv
+    if (pwr > 100) pwr = 100
+    else if (pwr < -100) pwr = -100
+}
+
+function cntrl() {
+    mPos = mPos - tInt * Cdrv
+    lpwr = (pwr + Cstr * 0.1)
+    rpwr = (pwr - Cstr * 0.1)
+}
+
+function CHK() {
+    if (Math.abs(pwr) < 100)
+        control.timer2.reset();
+    if (control.timer2.seconds() > 2) {
+        ok = true;
+    }
+}
+
+// M
+loops.forever(function () {
+    RST();
+    brick.showImage(images.eyesSleeping)
+    OS()
+    gAng = -0.25;
+    music.playSoundEffect(sounds.movementsSpeedUp)
+    brick.showImage(images.eyesAwake)
+    st = 1;
+    // BALANCE
+    while (!ok) {
+        GT();
+        let t1 = control.timer1.millis()
+        GG();
+        GM();
+        EQ();
+        cntrl();
+        motors.largeA.setSpeed(lpwr)
+        motors.largeD.setSpeed(rpwr)
+        CHK()
+        let t2 = control.timer1.millis();
+        let p = 5 - (t2 - t1);
+        loops.pause(Math.max(1, p))
+    }
+    motors.stopAllMotors()
+    st = 0;
+    brick.setLight(BrickLight.RedPulse);
+    brick.showImage(images.eyesKnockedOut)
+    music.playSoundEffect(sounds.movementsSpeedDown)
+    sensors.touch3.pauseUntil(TouchSensorEvent.Pressed)
+    brick.setLight(BrickLight.Off);
+})
+
+// BHV
+loops.forever(function () {
+    switch (st) {
+        case 0:
+            Cdrv = 0;
+            Cstr = 0;
+            break;
+        case 1:
+            Cdrv = 40;
+            loops.pause(4000);
+            Cdrv = 0;
+            music.playTone(1000, 100);
+            st = 2;
+            break;
+        case 2:
+            switch (sensors.color1.color()) {
+                case ColorSensorColor.Red:
+                    music.playTone(2000, 100);
+                    Cdrv = 0;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Green:
+                    music.playTone(2000, 100);
+                    Cdrv = 150;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Blue:
+                    music.playTone(2000, 100);
+                    Cstr = 70;
+                    break;
+                case ColorSensorColor.Yellow:
+                    music.playTone(2000, 100);
+                    Cstr = -70;
+                    break;
+                case ColorSensorColor.White:
+                    music.playTone(2000, 100);
+                    Cdrv = -75;
+                    break;
+            }
+            if (sensors.ultrasonic4.distance() < 25) {
+                Cstr = 0;
+                oldDr = Cdrv;
+                Cdrv = -10;
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(-30, 60, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                if (Math.randomRange(-1, 1) >= 1)
+                    Cstr = 70;
+                else
+                    Cstr = -70;
+                loops.pause(4000);
+                music.playTone(2000, 100)
+                Cstr = 0;
+                Cdrv = oldDr;
+            }
+            break;
+    }
+    loops.pause(80);
+})
+```

docs/examples/core-set/puppy-labview.md

@@ -0,0 +1,390 @@
+# Puppy
+
+```typescript
+let P_T = 0;
+let ISS = 0;
+let F_T = 0;
+let P_C = 0;
+let F_C = 0;
+let DB_S = 0;
+let NS = false;
+let IBP = 0;
+let IAP = 0;
+let C = false;
+let TC = false;
+let OTC = false;
+let COL = 0;
+let OCOL = 0;
+let _C = false;
+let GTO = 0;
+
+function DN() {
+    motors.largeAD.setBrake(true);
+    motors.largeAD.tank(50, 50, 1, MoveUnit.Seconds);
+    loops.pause(100);
+    motors.largeA.clearCounts()
+    motors.largeD.clearCounts()
+}
+
+function MNRH() {
+    motors.mediumC.setBrake(true)
+    brick.showImage(images.legoEv3icon)
+    brick.setLight(BrickLight.OrangePulse)
+    while (!brick.buttonEnter.wasPressed()) {
+        if (brick.buttonUp.wasPressed()) {
+            motors.mediumC.setSpeed(-100);
+        } else if (brick.buttonDown.wasPressed()) {
+            motors.mediumC.setSpeed(100);
+        } else {
+            motors.mediumC.stop();
+        }
+    }
+    motors.mediumC.stop();
+    motors.mediumC.clearCounts();
+    brick.setLight(BrickLight.Green);
+}
+
+function IS(t: number) {
+    ISS = t;
+    switch (t) {
+        case 0:
+            brick.showImage(images.eyesNeutral);
+            break;
+        case 1:
+            brick.showImage(images.eyesSleeping);
+            break;
+        case 2:
+            brick.showImage(images.eyesTear);
+            // draw rect...
+            break;
+        case 3:
+            brick.showImage(images.eyesHurt);
+            break;
+        case 4:
+            brick.showImage(images.eyesAngry);
+            break;
+        case 5:
+            brick.showImage(images.eyesTiredMiddle);
+            break;
+        case 6:
+            brick.showImage(images.eyesTiredRight);
+            break;
+        case 7:
+            brick.showImage(images.eyesTiredLeft);
+            break;
+        case 8:
+            brick.showImage(images.eyesLove);
+            break;
+    }
+
+}
+
+function UP() {
+    if (motors.largeA.angle() > -50) {
+        control.runInBackground(function () {
+            motors.largeD.clearCounts()
+            motors.largeD.setSpeed(-35);
+            pauseUntil(() => motors.largeD.angle() < -25);
+            motors.largeD.stop();
+            motors.largeD.setRegulated(false)
+            motors.largeD.setSpeed(-15)
+            pauseUntil(() => motors.largeD.angle() < -65);
+            motors.largeD.stop();
+        })
+        motors.largeA.clearCounts()
+        motors.largeA.setSpeed(-35);
+        pauseUntil(() => motors.largeA.angle() < -25);
+        motors.largeA.stop();
+        motors.largeA.setRegulated(false)
+        motors.largeA.setSpeed(-15)
+        pauseUntil(() => motors.largeA.angle() < -65);
+        motors.largeA.stop();
+
+        loops.pause(500);
+    }
+}
+
+function RST() {
+    P_T = Math.randomRange(3, 6);
+    F_T = Math.randomRange(2, 4);
+    P_C = 1;
+    F_C = 1;
+    control.timer1.reset();
+    control.timer2.reset();
+    control.timer3.reset();
+    CS(0);
+}
+
+function CS(db: number) {
+    if (DB_S != db) {
+        DB_S = db;
+        NS = true;
+    }
+}
+
+function MON() {
+    if (control.timer2.seconds() > 10) {
+        control.timer2.reset();
+        P_C--;
+        if (P_C < 0) {
+            P_C = 0;
+        }
+    }
+    if (control.timer1.seconds() > 20) {
+        control.timer1.reset()
+        F_C--;
+        if (F_C < 0) {
+            F_C = 0;
+        }
+    }
+    if (control.timer3.seconds() > 30) {
+        control.timer3.reset();
+        CS(1);
+    }
+}
+
+function UIS() {
+    if (control.timer5.seconds() > IBP) {
+        control.timer5.reset();
+        if (ISS == 1) {
+            ISS = 6;
+            IBP = Math.randomRange(1, 5);
+        } else {
+            ISS = 1;
+            IBP = 0.25;
+        }
+        IS(ISS);
+    }
+    if (control.timer6.seconds() > IAP) {
+        if (ISS != 1) {
+            control.timer6.reset();
+            IAP = Math.randomRange(1, 10)
+            if (ISS != 7) {
+                ISS = 7
+            } else {
+                ISS = 6;
+            }
+            IS(ISS);
+        }
+    }
+}
+
+function UPDB() {
+    if ((P_T == P_C) && (F_T == F_C)) {
+        CS(6);
+    }
+    if ((P_T > P_C) && (F_T < F_C)) {
+        CS(3);
+    }
+    if ((P_T < P_C) && (F_T > F_C)) {
+        CS(5);
+    }
+    if ((P_C == 0) && (F_C > 0)) {
+        CS(2)
+    }
+    if (F_C == 0) {
+        CS(4)
+    }
+}
+
+function PTC() {
+    C = false;
+    OTC = TC;
+    TC = sensors.touch1.isPressed()
+    if (TC != OTC && TC) {
+        P_C++;
+        control.timer3.reset();
+        if (DB_S != 4) {
+            IS(2);
+            music.playSoundEffect(sounds.animalsDogSniff);
+            C = true;
+        }
+    }
+    return C;
+}
+
+function FDC() {
+    OCOL = COL;
+    COL = sensors.color4.color();
+    _C = false;
+    if ((COL != 0) && (OCOL != COL)) {
+        F_C++;
+        _C = true;
+        control.timer3.reset();
+        IS(2);
+        music.playSoundEffect(sounds.expressionsCrunching)
+    }
+    return _C;
+}
+
+function IDL() {
+    if (NS) {
+        NS = false;
+        UP();
+    }
+    UIS();
+    UPDB();
+    PTC();
+    FDC();
+}
+
+function MHT(Pos: number) {
+    let _R = Pos - motors.mediumC.angle();
+    if (_R >= 0) {
+        motors.mediumC.setSpeed(100, _R, MoveUnit.Degrees);
+    } else {
+        motors.mediumC.setSpeed(-100, Math.abs(_R), MoveUnit.Degrees);
+    }
+}
+
+function SLP() {
+    if (NS) {
+        NS = false;
+        IS(5)
+        DN()
+        MHT(3000)
+        IS(1)
+        music.playSoundEffect(sounds.expressionsSnoring)
+    }
+    if (sensors.touch1.isPressed() || brick.buttonEnter.isPressed()) {
+        music.stopAllSounds();
+        control.timer3.reset();
+        CS(7);
+    }
+}
+
+function PLF() {
+    if (NS) {
+        NS = false
+        IS(0)
+        UP()
+        music.playSoundEffect(sounds.animalsDogBark2)
+        control.timer4.reset()
+        GTO = Math.randomRange(4, 8);
+    }
+    if(PTC()) {
+        CS(0);
+    }
+    if (control.timer4.seconds() > GTO) {
+        music.playSoundEffect(sounds.animalsDogBark2)
+        control.timer4.reset();
+        GTO = Math.randomRange(4, 8);
+    }
+}
+
+function NGR() {
+    NS = false
+    IS(4)
+    music.playSoundEffect(sounds.animalsDogGrowl);
+    UP();
+    loops.pause(1500);
+    music.stopAllSounds()
+    music.playSoundEffect(sounds.animalsDogBark1)
+    P_C--;
+    CS(0);
+}
+
+function HNG() {
+    if (NS) {
+        NS = false;
+        IS(3)
+        DN();
+        music.playSoundEffect(sounds.animalsDogWhine);        
+    }
+    if(FDC()) {
+        CS(0)
+    }
+    if (PTC()) {
+        CS(3);
+    }
+}
+
+function PPP() {
+    NS = false;
+    IS(2);
+    UP();
+    loops.pause(100)
+    motors.largeA.setSpeed(-30, 70, MoveUnit.Degrees);
+    loops.pause(800);
+    music.playSoundEffect(sounds.mechanicalHorn1);
+    loops.pause(1000);
+    for(let i = 0; i < 3; ++i) {
+        motors.largeA.setSpeed(-30, 20, MoveUnit.Degrees);
+        motors.largeA.setSpeed(30, 20, MoveUnit.Degrees);
+    }
+    motors.largeA.setSpeed(30, 70, MoveUnit.Degrees);
+    F_C = 1;
+    CS(0);
+}
+
+function HPY() {
+    IS(8)
+    MHT(0);
+    motors.largeAD.setSpeed(10, 0.8, MoveUnit.Seconds);
+    for(let i = 0; i < 3; ++i) {
+        music.playSoundEffect(sounds.animalsDogBark1);
+        motors.largeAD.setSpeed(-100, 0.2, MoveUnit.Seconds);
+        loops.pause(300)
+        motors.largeAD.setSpeed(10, 0.3, MoveUnit.Seconds)
+    }
+    loops.pause(500);
+    music.stopAllSounds();
+    DN();
+    RST();
+}
+
+function STL() {
+    UP();
+    motors.largeAD.setSpeed(-20, 60, MoveUnit.Degrees);
+    music.playSoundEffect(sounds.animalsDogWhine);
+    motors.largeAD.setSpeed(20, 60, MoveUnit.Degrees);
+}
+
+function WKU() {
+    let stateC = false;
+    IS(5);
+    music.playSoundEffect(sounds.animalsDogWhine)
+    MHT(0)
+    DN()
+    STL()
+    loops.pause(1000);
+    UP()
+    CS(0;)
+}
+
+DN();
+MNRH();
+// compare button state???
+IS(1);
+UP();
+RST();
+loops.forever(function () {
+    MON();
+    switch (DB_S) {
+        case 0:
+            IDL();
+            break;
+        case 1:
+            SLP();
+            break;
+        case 2:
+            PLF();
+            break;
+        case 3:
+            NGR();
+            break;
+        case 4:
+            HNG();
+            break;
+        case 5:
+            PPP();
+            break;
+        case 6:
+            HPY();
+            break;
+        case 7:
+            WKU();
+            break;
+    }
+})
+```

docs/examples/core-set/robotarm-labview.md

@@ -0,0 +1,51 @@
+# Robot Arm
+
+```typescript
+function INI() {
+    motors.largeB.setBrake(true)
+    motors.largeC.setBrake(true)
+    motors.mediumA.setBrake(true)
+    motors.largeB.setSpeed(-50)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds);
+    motors.mediumA.setSpeed(-50, 90, MoveUnit.Degrees);
+    motors.largeC.setSpeed(50)
+    sensors.touch1.pauseUntil(TouchSensorEvent.Pressed);
+    motors.largeC.setSpeed(-50, 0.86, MoveUnit.Rotations);
+}
+
+INI()
+
+let down = false;
+loops.forever(function () {
+    brick.showImage(images.informationQuestionMark)
+    brick.setLight(BrickLight.OrangePulse);
+    pauseUntil(() => (down = brick.buttonDown.wasPressed()) || brick.buttonUp.wasPressed())
+    brick.setLight(BrickLight.Off)
+    music.playSoundEffect(sounds.mechanicalAirRelease)
+    brick.showImage(images.informationAccept)
+    if (down) {
+        brick.showImage(images.informationForward)
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    } else {
+        brick.showImage(images.informationBackward)
+        motors.largeC.setSpeed(-65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees)
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds)
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    if (down) {
+        motors.largeC.setSpeed(-65, 0.86, MoveUnit.Rotations);
+    } else {
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees);
+    motors.mediumA.setSpeed(-30, 90, MoveUnit.Degrees);
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop()
+})
+```

docs/examples/crane-labview.md

@@ -0,0 +1,51 @@
+# Crane LabView
+
+```blocks
+function INI() {
+    motors.largeB.setBrake(true)
+    motors.largeC.setBrake(true)
+    motors.mediumA.setBrake(true)
+    motors.largeB.setSpeed(-50)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds);
+    motors.mediumA.setSpeed(-50, 90, MoveUnit.Degrees);
+    motors.largeC.setSpeed(50)
+    sensors.touch1.pauseUntil(TouchSensorEvent.Pressed);
+    motors.largeC.setSpeed(-50, 0.86, MoveUnit.Rotations);
+}
+
+INI()
+
+let down = false;
+loops.forever(function () {
+    brick.showImage(images.informationQuestionMark)
+    brick.setLight(BrickLight.OrangePulse);
+    pauseUntil(() => (down = brick.buttonDown.wasPressed()) || brick.buttonUp.wasPressed())
+    brick.setLight(BrickLight.Off)
+    music.playSoundEffect(sounds.mechanicalAirRelease)
+    brick.showImage(images.informationAccept)
+    if (down) {
+        brick.showImage(images.informationForward)
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    } else {
+        brick.showImage(images.informationBackward)
+        motors.largeC.setSpeed(-65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees)
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds)
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    if (down) {
+        motors.largeC.setSpeed(-65, 0.86, MoveUnit.Rotations);
+    } else {
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees);
+    motors.mediumA.setSpeed(-30, 90, MoveUnit.Degrees);
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop()
+})
+```

docs/examples/gyro-boy-labview.md

@@ -0,0 +1,215 @@
+# Gyro Boy LabView
+
+```blocks
+let mSum = 0;
+let mPos = 0;
+let mSpd = 0;
+let mD = 0;
+let mDP1 = 0;
+let mDP2 = 0;
+let mDP3 = 0;
+let Crdv = 0;
+let cLo = 0;
+let gAng = 0;
+let ok = false;
+let pwr = 0;
+let Cstr = 0;
+let Cdrv = 0;
+let gMn = 0;
+let gMx = 0;
+let gSum = 0;
+let gyro = 0;
+let gOS = 0;
+let gSpd = 0;
+let tInt = 0.014;
+let lpwr = 0
+let rpwr = 0
+let tStart = 0
+let st = 0
+let oldDr = 0
+
+function RST() {
+    motors.largeA.reset()
+    motors.largeD.reset()
+    motors.largeA.setRegulated(false)
+    motors.largeD.setRegulated(false)
+    sensors.gyro2.reset()
+    sensors.gyro2.rate()
+    control.timer2.reset()
+    loops.pause(5000)
+    mSum = 0;
+    mPos = 0;
+    mD = 0;
+    mDP1 = 0;
+    mDP2 = 0;
+    mDP3 = 0;
+    Crdv = 0;
+    cLo = 0;
+    gAng = 0;
+    ok = false;
+    pwr = 0;
+    st = 0;
+    Cstr = 0;
+    Cdrv = 0;
+}
+
+function OS() {
+    // OSL
+    do {
+        gMn = 1000;
+        gMx = -100;
+        gSum = 0;
+        // gChk
+        for (let i = 0; i < 200; i++) {
+            gyro = sensors.gyro2.rate()
+            gSum = gyro;
+            gMx = Math.max(gMx, gyro)
+            gMn = Math.min(gMn, gyro)
+            loops.pause(4);
+        }
+    } while (gMx - gMn > 2);
+    gOS = gSum / 200;
+}
+
+function GT() {
+    if (cLo == 0) {
+        tInt = 0.014;
+        control.timer1.reset();
+    } else {
+        tInt = control.timer1.seconds() / cLo;
+    }
+    cLo++;
+}
+
+function GG() {
+    gyro = sensors.gyro2.rate();
+    gOS = 0.0005 * gyro + (1 - 0.0005) * gOS
+    gSpd = gyro - gOS;
+    gAng = gAng + tInt * gSpd;
+}
+
+function GM() {
+    let temp = mSum
+    mSum = motors.largeD.angle() + motors.largeA.angle();
+    mD = mSum - temp;
+    mPos = mPos + mD;
+    mSpd = ((mDP1 + mDP2 + mDP3 + mD) / 4) / tInt;
+    mDP3 = mDP2;
+    mDP2 = mDP1;
+    mDP1 = mD;
+}
+
+function EQ() {
+    mPos = mPos - Cdrv * tInt;
+    pwr = (0.8 * gSpd + 15 * gAng) + (0.095 * mSpd + 0.13 * mPos) - 0.01 * Cdrv
+    if (pwr > 100) pwr = 100
+    else if (pwr < -100) pwr = -100
+}
+
+function cntrl() {
+    mPos = mPos - tInt * Cdrv
+    lpwr = (pwr + Cstr * 0.1)
+    rpwr = (pwr - Cstr * 0.1)
+}
+
+function CHK() {
+    if (Math.abs(pwr) < 100)
+        control.timer2.reset();
+    if (control.timer2.seconds() > 2) {
+        ok = true;
+    }
+}
+
+// M
+loops.forever(function () {
+    RST();
+    brick.showImage(images.eyesSleeping)
+    OS()
+    gAng = -0.25;
+    music.playSoundEffect(sounds.movementsSpeedUp)
+    brick.showImage(images.eyesAwake)
+    st = 1;
+    // BALANCE
+    while (!ok) {
+        GT();
+        let t1 = control.timer1.millis()
+        GG();
+        GM();
+        EQ();
+        cntrl();
+        motors.largeA.setSpeed(lpwr)
+        motors.largeD.setSpeed(rpwr)
+        CHK()
+        let t2 = control.timer1.millis();
+        let p = 5 - (t2 - t1);
+        loops.pause(Math.max(1, p))
+    }
+    motors.stopAllMotors()
+    st = 0;
+    brick.setLight(BrickLight.RedPulse);
+    brick.showImage(images.eyesKnockedOut)
+    music.playSoundEffect(sounds.movementsSpeedDown)
+    sensors.touch3.pauseUntil(TouchSensorEvent.Pressed)
+    brick.setLight(BrickLight.Off);
+})
+
+// BHV
+loops.forever(function () {
+    switch (st) {
+        case 0:
+            Cdrv = 0;
+            Cstr = 0;
+            break;
+        case 1:
+            Cdrv = 40;
+            loops.pause(4000);
+            Cdrv = 0;
+            music.playTone(1000, 100);
+            st = 2;
+            break;
+        case 2:
+            switch (sensors.color1.color()) {
+                case ColorSensorColor.Red:
+                    music.playTone(2000, 100);
+                    Cdrv = 0;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Green:
+                    music.playTone(2000, 100);
+                    Cdrv = 150;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Blue:
+                    music.playTone(2000, 100);
+                    Cstr = 70;
+                    break;
+                case ColorSensorColor.Yellow:
+                    music.playTone(2000, 100);
+                    Cstr = -70;
+                    break;
+                case ColorSensorColor.White:
+                    music.playTone(2000, 100);
+                    Cdrv = -75;
+                    break;
+            }
+            if (sensors.ultrasonic4.distance() < 25) {
+                Cstr = 0;
+                oldDr = Cdrv;
+                Cdrv = -10;
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(-30, 60, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                if (Math.randomRange(-1, 1) >= 1)
+                    Cstr = 70;
+                else
+                    Cstr = -70;
+                loops.pause(4000);
+                music.playTone(2000, 100)
+                Cstr = 0;
+                Cdrv = oldDr;
+            }
+            break;
+    }
+    loops.pause(80);
+})
+```

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+</svg>

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",

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",

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)
         }
 
         /**

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

@@ -19,7 +19,7 @@
   "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 %condition|to %value",
+  "sensors.ColorSensor.setThreshold|block": "set %sensor|%condition|to %value",
   "sensors.color1|block": "color 1",
   "sensors.color2|block": "color 2",
   "sensors.color3|block": "color 3",

libs/color-sensor/color.ts

@@ -227,8 +227,9 @@ namespace sensors {
          * @param condition the dark or bright light condition
          * @param value the value threshold
          */
-        //% blockId=colorSetThreshold block="set %condition|to %value"
+        //% 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)

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

@@ -1,4 +1,5 @@
 {
+  "BrickLight": "Patterns for lights under the buttons.",
   "ButtonEvent": "User interaction on buttons",
   "Draw": "Drawing modes",
   "Image.buffer": "Returns the underlaying Buffer object.",
@@ -6,14 +7,15 @@
   "Image.draw": "Draw an image on the screen.",
   "Image.height": "Returns the height of an image.",
   "Image.width": "Returns the width of an image.",
-  "LightsPattern": "Patterns for lights under the buttons.",
   "MMap.getNumber": "Read a number in specified format from the buffer.",
   "MMap.ioctl": "Perform ioctl(2) on the underlaying file",
   "MMap.length": "Returns the length of a Buffer object.",
+  "MMap.lseek": "Set pointer on the underlaying file.",
   "MMap.read": "Perform read(2) on the underlaying file",
   "MMap.setNumber": "Write a number in specified format in the buffer.",
   "MMap.slice": "Read a range of bytes into a buffer.",
   "MMap.write": "Perform write(2) on the underlaying file",
+  "SeekWhence": "Mode for lseek()",
   "brick.Button": "Generic button class, for device buttons and sensors.",
   "brick.Button.isPressed": "Check if button is currently pressed or not.",
   "brick.Button.onEvent": "Do something when a button or sensor is clicked, up or down.",
@@ -28,11 +30,9 @@
   "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",
@@ -52,6 +52,12 @@
   "console.logValue|param|value": "to write",
   "console.sendToScreen": "Sends the log messages to the brick screen and uses the brick up and down buttons to scroll.",
   "control": "Program controls and events.",
+  "control.Timer": "A timer",
+  "control.Timer.millis": "Gets the elapsed time in millis since the last reset",
+  "control.Timer.pauseUntil": "Pauses until the timer reaches the given amount of milliseconds",
+  "control.Timer.pauseUntil|param|ms": "how long to pause for, eg: 5, 100, 200, 500, 1000, 2000",
+  "control.Timer.reset": "Resets the timer",
+  "control.Timer.seconds": "Gets the elapsed time in seconds since the last reset",
   "control.allocateNotifyEvent": "Allocates the next user notification event",
   "control.deviceFirmwareVersion": "Determine the version of system software currently running.",
   "control.dmesg": "Write data to DMESG debugging buffer.",
@@ -61,6 +67,8 @@
   "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",

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",
@@ -48,13 +47,27 @@
   "console.log|block": "console|log %text",
   "console.sendToScreen|block": "send console to screen",
   "console|block": "console",
+  "control.Timer.millis|block": "%timer|millis",
+  "control.Timer.pauseUntil|block": "%timer|pause until (ms) %ms",
+  "control.Timer.reset|block": "%timer|reset",
+  "control.Timer.seconds|block": "%timer|seconds",
   "control.raiseEvent|block": "raise event|from %src|with value %value",
+  "control.timer1|block": "timer 1",
+  "control.timer2|block": "timer 2",
+  "control.timer3|block": "timer 3",
+  "control.timer4|block": "timer 4",
+  "control.timer5|block": "timer 5",
+  "control.timer6|block": "timer 6",
+  "control.timer7|block": "timer 7",
+  "control.timer8|block": "timer 8",
   "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.setSpeed|block": "set %motor|speed to %speed=motorSpeedPicker|%",
@@ -91,7 +104,6 @@
   "{id:category}Serial": "Serial",
   "{id:group}Buttons": "Buttons",
   "{id:group}Counters": "Counters",
-  "{id:group}Light": "Light",
   "{id:group}More": "More",
   "{id:group}Move": "Move",
   "{id:group}Screen": "Screen",

libs/core/buttons.ts

@@ -2,36 +2,26 @@
 /**
  * Patterns for lights under the buttons.
  */
-const enum LightsPattern {
-    //% block=Off enumval=0
-    //% blockIdentity=brick.lightPattern
+const enum BrickLight {
+    //% block=off enumval=0
     Off = 0,
-    //% block=Green enumval=1
-    //% blockIdentity=brick.lightPattern
+    //% block=green enumval=1
     Green = 1,
-    //% block=Red enumval=2
-    //% blockIdentity=brick.lightPattern
+    //% block=red enumval=2
     Red = 2,
-    //% block=Orange enumval=3
-    //% blockIdentity=brick.lightPattern
+    //% block=orange enumval=3
     Orange = 3,
-    //% block="Flashing Green" enumval=4
-    //% blockIdentity=brick.lightPattern
+    //% block="green flash" enumval=4
     GreenFlash = 4,
-    //% block="Flashing Red" enumval=5
-    //% blockIdentity=brick.lightPattern
+    //% block="red flash" enumval=5
     RedFlash = 5,
-    //% block="Flashing Orange" enumval=6
-    //% blockIdentity=brick.lightPattern
+    //% block="orange flash" enumval=6
     OrangeFlash = 6,
-    //% block="Pulsing Green" enumval=7
-    //% blockIdentity=brick.lightPattern
+    //% block="green pulse" enumval=7
     GreenPulse = 7,
-    //% block="Pulsing Red" enumval=8
-    //% blockIdentity=brick.lightPattern
+    //% block="red pulse" enumval=8
     RedPulse = 8,
-    //% block="Pulsing Orange" enumval=9
-    //% blockIdentity=brick.lightPattern
+    //% block="orange pulse" enumval=9
     OrangePulse = 9,
 }
 
@@ -170,6 +160,7 @@ 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 +194,31 @@ 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 +242,21 @@ 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;
-    }
 }

libs/core/console.ts

@@ -58,7 +58,7 @@ namespace console {
 
 namespace console.screen {
     const maxLines = 100;
-    const screenLines = 8;
+    const screenLines = 10;
     let lines: string[];
     let scrollPosition = 0;
 
@@ -66,8 +66,8 @@ namespace console.screen {
         if (!lines) {
             lines = [];
             console.addListener(log);
-            brick.buttonUp.onEvent(ButtonEvent.Click, () => scroll(-1))
-            brick.buttonDown.onEvent(ButtonEvent.Click, () => scroll(1))                
+            brick.buttonUp.onEvent(ButtonEvent.Click, () => scroll(-3))
+            brick.buttonDown.onEvent(ButtonEvent.Click, () => scroll(3))                
         }
     }
 

libs/core/enums.d.ts

@@ -1,6 +1,17 @@
 // Auto-generated. Do not edit.
 
 
+    /**
+     * Mode for lseek()
+     */
+
+    declare const enum SeekWhence {
+    Set = 0,
+    Current = 1,
+    End = 2,
+    }
+
+
     /**
      * Drawing modes
      */

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)
         }
     }
 
@@ -310,8 +310,9 @@ namespace sensors.internal {
             return getUartNumber(fmt, off, this._port)
         }
 
-        protected reset() {
+        reset() {
             if (this.isActive()) uartReset(this._port);
+            this.realmode = 0;
         }
     }
 

libs/core/mmap.cpp

@@ -7,6 +7,16 @@
 #include <fcntl.h>
 #include <sys/ioctl.h>
 
+/**
+* Mode for lseek()
+*/
+enum class SeekWhence {
+    Set = 0,
+    Current = 1,
+    End = 2,
+};
+
+
 namespace pxt {
 PXT_VTABLE_CTOR(MMap) {
     length = 0;
@@ -111,4 +121,10 @@ int read(MMap *mmap, Buffer data) {
     return ::read(mmap->fd, data->data, data->length);
 }
 
+/** Set pointer on the underlaying file. */
+//%
+int lseek(MMap *mmap, int offset, SeekWhence whence) {
+    return ::lseek(mmap->fd, offset, (int)whence);
+}
+
 }

libs/core/output.ts

@@ -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();
@@ -198,7 +198,9 @@ namespace motors {
         /**
          * Resets the motor(s).
          */
-        //%
+        //% weight=5
+        //% group="Move"
+        //% blockId=motorReset block="%motors|reset"
         reset() {
             this.init();
             reset(this._port);
@@ -216,10 +218,17 @@ namespace motors {
         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) {
@@ -242,6 +251,8 @@ namespace motors {
             }
 
             this._move(useSteps, stepsOrTime, speed);
+            // wait till motor is done with this work
+            this.pauseUntilReady();
         }
 
         /**
@@ -271,10 +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();
         }
 
@@ -290,7 +303,7 @@ namespace motors {
         }
 
         private __setSpeed(speed: number) {
-            const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
+            const b = mkCmd(this._port, this._regulated ? DAL.opOutputSpeed : DAL.opOutputPower, 1)
             b.setNumber(NumberFormat.Int8LE, 2, speed)
             writePWM(b)
             if (speed) {
@@ -304,11 +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

libs/core/pxt.json

@@ -11,6 +11,7 @@
         "mmap.cpp",
         "control.cpp",
         "console.ts",
+        "timer.ts",
         "serialnumber.cpp",
         "buttons.ts",
         "png.cpp",

libs/core/shims.d.ts

@@ -41,6 +41,10 @@ declare interface MMap {
     /** Perform read(2) on the underlaying file */
     //% shim=MMapMethods::read
     read(data: Buffer): int32;
+
+    /** Set pointer on the underlaying file. */
+    //% shim=MMapMethods::lseek
+    lseek(offset: int32, whence: SeekWhence): int32;
 }
 declare namespace control {
 

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())
 })
 

libs/core/timer.ts

@@ -0,0 +1,64 @@
+namespace control {
+    /**
+     * A timer
+     */
+    //% fixedInstances
+    export class Timer {
+        start: number;
+
+        constructor() {
+            this.start = control.millis();
+        }
+
+        /**
+         * Gets the elapsed time in millis since the last reset
+         */
+        //% blockId=timerMillis block="%timer|millis"
+        millis(): number {
+            return control.millis() - this.start;
+        }
+        
+        /**
+         * Gets the elapsed time in seconds since the last reset
+         */
+        //% blockId=timerSeconds block="%timer|seconds"
+        seconds(): number {
+            return this.millis() / 1000;
+        }
+
+        /**
+         * Resets the timer
+         */
+        //% blockId=timerRest block="%timer|reset"
+        reset() {
+            this.start = control.millis();
+        }
+
+        /**
+         * Pauses until the timer reaches the given amount of milliseconds
+         * @param ms how long to pause for, eg: 5, 100, 200, 500, 1000, 2000
+         */
+        //% blockId=timerPauseUntil block="%timer|pause until (ms) %ms"
+        pauseUntil(ms: number) {
+            const remaining = this.millis() - ms;
+            loops.pause(Math.max(0, remaining));
+        }
+    }
+
+    //% whenUsed fixedInstance block="timer 1"
+    export const timer1 = new Timer();
+    //% whenUsed fixedInstance block="timer 2"
+    export const timer2 = new Timer();
+    //% whenUsed fixedInstance block="timer 3"
+    export const timer3 = new Timer();
+    //% whenUsed fixedInstance block="timer 4"
+    export const timer4 = new Timer();
+    //% whenUsed fixedInstance block="timer 5"
+    export const timer5 = new Timer();
+    //% whenUsed fixedInstance block="timer 6"
+    export const timer6 = new Timer();
+    //% whenUsed fixedInstance block="timer 7"
+    export const timer7 = new Timer();
+    //% whenUsed fixedInstance block="timer 8"
+    export const timer8 = new Timer();
+}

libs/datalog/README.md

@@ -0,0 +1,3 @@
+# Datalog
+
+A tiny libraty to create CSV datalog files.

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

@@ -0,0 +1,11 @@
+{
+  "datalog.addRow": "Starts a row of data",
+  "datalog.addValue": "Adds a cell to the row of data",
+  "datalog.addValue|param|name": "name of the cell, eg: \"x\"",
+  "datalog.addValue|param|value": "value of the cell, eg: 0",
+  "datalog.flush": "Commits any buffered row to disk",
+  "datalog.setEnabled": "Turns on or off datalogging",
+  "datalog.setFile": "Starts a new data logger for the given file",
+  "datalog.setFile|param|filename": "the filename, eg: \"datalog.csv\"",
+  "datalog.setStorage": "* @param storage custom storage solution"
+}

libs/datalog/_locales/datalog-strings.json

@@ -0,0 +1,7 @@
+{
+  "datalog.addRow|block": "datalog add row",
+  "datalog.addValue|block": "datalog add %name|=%value",
+  "datalog.setEnabled|block": "datalog %enabled",
+  "datalog|block": "datalog",
+  "{id:category}Datalog": "Datalog"
+}

libs/datalog/datalog.ts

@@ -0,0 +1,122 @@
+//% weight=100 color=#0fbc11 icon=""
+namespace datalog {
+    let _headers: string[] = undefined;
+    let _headersLength: number;
+    let _values: number[];
+    let _buffer: string = "";
+    let _start: number;
+    let _filename = "datalog.csv";
+    let _storage: storage.Storage = storage.temporary;
+    let _enabled = true;
+
+    function clear() {
+        _headers = undefined;        
+        _values = undefined;
+        _buffer = "";
+    }
+
+    function init() {
+        if (!_headers) {
+            _headers = [];
+            _headersLength = 0;
+            _start = control.millis();
+            _storage.remove(_filename);
+        }
+        _values = [];
+    }
+
+    function commit() {
+        // write row if any data
+        if (_values && _values.length > 0) {
+            // write headers for the first row
+            if (!_headersLength) {
+                _storage.appendCSVHeaders(_filename, _headers);
+                _headersLength = _storage.size(_filename);
+            }
+            // commit row data
+            _buffer += storage.toCSV(_values, _storage.csvSeparator);
+            // buffered writes
+            if (_buffer.length > 1024)
+                flush();
+        }
+
+        // clear values
+        _values = undefined;
+    }
+
+    /**
+     * Starts a row of data
+     */
+    //% weight=100
+    //% blockId=datalogAddRow block="datalog add row"
+    export function addRow(): void {
+        if (!_enabled) return;
+        
+        commit();
+        init();
+        const s = (control.millis() - _start) / 1000;
+        addValue("time (s)", s);
+    }
+
+    /**
+     * Adds a cell to the row of data
+     * @param name name of the cell, eg: "x"
+     * @param value value of the cell, eg: 0
+     */
+    //% weight=99
+    //% blockId=datalogAddValue block="datalog add %name|=%value"
+    export function addValue(name: string, value: number) {
+        if (!_values) return;
+        let i = _headers.indexOf(name);
+        if (i < 0) {
+            _headers.push(name);
+            i = _headers.length - 1;
+        }
+        _values[i] = value;
+    }
+
+    /**
+     * Starts a new data logger for the given file
+     * @param filename the filename, eg: "datalog.csv"
+     */
+    //%
+    export function setFile(filename: string) {
+        flush();
+        _filename = filename;
+        clear();
+    }
+
+    /**
+     * 
+     * @param storage custom storage solution
+     */
+    //%
+    export function setStorage(storage: storage.Storage) {
+        flush();
+        _storage = storage;
+        clear();
+    }
+
+    /**
+     * Commits any buffered row to disk
+     */
+    //%
+    export function flush() {
+        if (_buffer) {
+            const b = _buffer;
+            _buffer = "";
+            _storage.append(_filename, b);
+        }
+    }
+
+    /**
+     * Turns on or off datalogging
+     * @param enabled 
+     */
+    //% blockId=datalogEnabled block="datalog %enabled"
+    //% enabled.fieldEditor=fieldonoff
+    export function setEnabled(enabled: boolean) {
+        flush();
+        _enabled = enabled;
+    }
+}

libs/datalog/pxt.json

@@ -0,0 +1,16 @@
+{
+    "name": "datalog",
+    "description": "Tiny data logging framework",
+    "files": [
+        "README.md",
+        "datalog.ts"
+    ],
+    "testFiles": [
+        "test.ts"
+    ],
+    "public": true,
+    "dependencies": {
+            "core": "file:../core",
+            "storage": "file:../storage"
+    }
+}

libs/datalog/test.ts

@@ -0,0 +1,6 @@
+
+loops.forever(function () {
+    datalog.addRow()
+    datalog.addValue("x", Math.random())
+    datalog.addValue("y", Math.random())
+})

libs/ev3/ns.ts

@@ -56,4 +56,9 @@ namespace loops {
 //% color="#1E5AA8"
 namespace light {
 
+}
+
+//% color="#b0b0b0" advanced=true weight=5
+namespace storage {
+
 }

libs/ev3/pxt.json

@@ -10,6 +10,7 @@
         "base": "file:../base",
         "core": "file:../core",
         "music": "file:../music",
+        "mood": "file:../mood",
         "color-sensor": "file:../color-sensor",
         "touch-sensor": "file:../touch-sensor",
         "ultrasonic-sensor": "file:../ultrasonic-sensor",

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

@@ -1,5 +1,7 @@
 {
   "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.drift": "Gets the computed rate drift",
+  "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.",
+  "sensors.GyroSensor.setDriftCorrection": "Enables or disable drift correction"
 }

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",

libs/gyro-sensor/gyro.ts

@@ -8,16 +8,27 @@ namespace sensors {
     //% fixedInstances
     export class GyroSensor extends internal.UartSensor {
         private calibrating: boolean;
+        private _drift: number;
+        private _drifting: boolean;
         constructor(port: number) {
             super(port)
             this.calibrating = false;
+            this._drift = 0;
+            this._drifting = true;
+            this.setMode(GyroSensorMode.Rate);
         }
 
         _deviceType() {
             return DAL.DEVICE_TYPE_GYRO
         }
 
+        _query(): number {
+            return this.getNumber(NumberFormat.Int16LE, 0);
+        }
+
         setMode(m: GyroSensorMode) {
+            if (m == GyroSensorMode.Rate && this.mode != m)
+                this._drift = 0;
             this._setMode(m)
         }
 
@@ -37,61 +48,91 @@ namespace sensors {
             if (this.calibrating)
                 pauseUntil(() => !this.calibrating, 2000);
 
-            this.setMode(GyroSensorMode.Angle)
-            return this.getNumber(NumberFormat.Int16LE, 0)
+            this.setMode(GyroSensorMode.Angle);
+            return this._query();
         }
 
         /**
          * 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);
 
-            this.setMode(GyroSensorMode.Rate)
-            return this.getNumber(NumberFormat.Int16LE, 0)
+            this.setMode(GyroSensorMode.Rate);
+            let curr = this._query();
+            if (Math.abs(curr) < 20) {
+                const p = 0.0005;
+                this._drift = (1 - p) * this._drift + p * curr;
+                curr -= this._drift;
+            }
+            return curr;
         }
 
         /**
          * 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=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);
+            // may be triggered by a button click, 
+            // give time for robot to settle
+            loops.pause(700);
             // 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);
+            super.reset();
+            // switch back to the desired mode
+            this.setMode(this.mode);
+            // wait till sensor is live
+            pauseUntil(() => this.isActive());
+            // give it a bit of time to init
+            loops.pause(1000)
+            // compute drift
+            this._drift = 0;
+            if (this.mode == GyroSensorMode.Rate) {
+                for (let i = 0; i < 200; ++i) {
+                    this._drift += this._query();
+                    loops.pause(4);
+                }
+                this._drift /= 200;
+            }
+            // and we're done
             this.calibrating = false;
         }
+
+        /**
+         * Gets the computed rate drift
+         */
+        //%
+        drift(): number {
+            return this._drift;
+        }
+
+        /**
+         * Enables or disable drift correction
+         * @param enabled 
+         */
+        //%
+        setDriftCorrection(enabled: boolean) {
+            this._drifting = enabled;
+        }
     }
 
     //% fixedInstance whenUsed block="gyro 2" weight=95 jres=icons.port2

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

@@ -5,7 +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 %condition|to %value",
+  "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",

libs/infrared-sensor/ir.ts

@@ -257,8 +257,9 @@ namespace sensors {
          * @param condition the dark or bright light condition
          * @param value the value threshold
          */
-        //% blockId=irSetThreshold block="set %condition|to %value"
+        //% 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)

libs/mood/README.md

@@ -0,0 +1,3 @@
+# mood
+
+A package to put the EV3 in various moods.

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

@@ -0,0 +1,16 @@
+{
+  "brick.Mood": "A mood",
+  "brick.Mood.show": "Shows the mood on the EV3",
+  "brick.angry": "An angry mood",
+  "brick.awake": "A awake mood",
+  "brick.dizzy": "A dizzy mood",
+  "brick.knockedOut": "A knocked out mood",
+  "brick.love": "In love mood",
+  "brick.middleLeft": "Looking around left",
+  "brick.middleRight": "Looking around right",
+  "brick.neutral": "In a neutral mood",
+  "brick.sad": "A sad mood",
+  "brick.sleeping": "A sleeping mood",
+  "brick.tired": "A tired mood",
+  "brick.winking": "In laughing mood"
+}

libs/mood/_locales/mood-strings.json

@@ -0,0 +1,6 @@
+{
+  "brick.Mood.show|block": "show mood %mood=mood_image_picker",
+  "brick|block": "brick",
+  "{id:category}Brick": "Brick",
+  "{id:group}Screen": "Screen"
+}

libs/mood/mood.ts

@@ -0,0 +1,115 @@
+namespace brick {
+    /**
+     * A mood
+     */
+    //% fixedInstances
+    export class Mood {
+        image: Image;
+        sound: Sound;
+        light: BrickLight;
+
+        constructor(image: Image, sound: Sound, light: BrickLight) {
+            this.image = image;
+            this.sound = sound;
+            this.light = light;
+        }
+
+        /**
+         * Shows the mood on the EV3
+         */
+        //% weight=90
+        //% blockId=moodShow block="show mood %mood=mood_image_picker"
+        //% weight=101 group="Screen" blockGap=8
+        show() {
+            brick.setLight(this.light);
+            brick.showImage(this.image);
+            if (this.sound)
+                music.playSoundEffect(this.sound);
+        }
+    }
+
+    /**
+     * An image
+     * @param image the image
+     */
+    //% blockId=mood_image_picker block="%image" shim=TD_ID
+    //% image.fieldEditor="images"
+    //% image.fieldOptions.columns=4
+    //% image.fieldOptions.width=400
+    //% group="Screen" weight=0 blockHidden=1
+    export function __moodImagePicker(mood: Mood): Mood {
+        return mood;
+    }    
+
+    /**
+     * A sleeping mood
+     */
+    //% fixedInstance jres=images.eyesSleeping
+    export const sleeping = new Mood(images.eyesSleeping, sounds.expressionsSnoring, BrickLight.OrangePulse);
+
+    /**
+     * A awake mood
+     */
+    //% fixedInstance jres=images.eyesAwake
+    export const awake = new Mood(images.eyesAwake, sounds.informationActivate, BrickLight.Orange);
+
+    /**
+     * A tired mood
+     */
+    //% fixedInstance jres=images.eyesTiredMiddle
+    export const tired = new Mood(images.eyesTiredMiddle, sounds.expressionsSneezing, BrickLight.OrangeFlash);
+    
+    /**
+     * An angry mood
+     */
+    //% fixedInstance jres=images.eyesAngry
+    export const angry = new Mood(images.eyesAngry, sounds.animalsDogGrowl, BrickLight.RedPulse);
+
+    /**
+     * A sad mood
+     */
+    //% fixedInstance jres=images.eyesTear
+    export const sad = new Mood(images.eyesTear, sounds.animalsDogWhine, BrickLight.Red);
+
+    /**
+     * A dizzy mood
+     */
+    //% fixedInstance jres=images.eyesDizzy
+    export const dizzy = new Mood(images.eyesDizzy, sounds.expressionsUhOh, BrickLight.OrangeFlash);
+
+    /**
+     * A knocked out mood
+     */
+    //% fixedInstance jres=images.eyesKnockedOut
+    export const knockedOut = new Mood(images.eyesKnockedOut, sounds.informationError, BrickLight.RedFlash);
+    
+    /**
+     * Looking around left
+     */
+    //% fixedInstance jres=images.eyesMiddleLeft
+    export const middleLeft = new Mood(images.eyesMiddleLeft, sounds.informationAnalyze, BrickLight.Off);    
+
+    /**
+     * Looking around right
+     */
+    //% fixedInstance jres=images.eyesMiddleRight
+    export const middleRight = new Mood(images.eyesMiddleRight, sounds.informationAnalyze, BrickLight.Off);    
+
+    /**
+     * In love mood
+     */
+    //% fixedInstance jres=images.eyesLove
+    export const love = new Mood(images.eyesLove, sounds.expressionsMagicWand, BrickLight.GreenPulse);    
+
+    /**
+     * In laughing mood
+     */
+    //% fixedInstance jres=images.eyesWinking
+    export const winking = new Mood(images.eyesWinking, sounds.expressionsLaughing1, BrickLight.GreenFlash);    
+
+    /**
+     * In a neutral mood
+     */
+    //% fixedInstance jres=images.eyesNeutral
+    export const neutral = new Mood(images.eyesNeutral, undefined, BrickLight.Green);
+}

libs/mood/pxt.json

@@ -0,0 +1,14 @@
+{
+    "name": "mood",
+    "description": "The EV3 mood library",
+    "files": [
+        "README.md",
+        "mood.ts"
+    ],
+    "testFiles": [
+    ],
+    "public": true,
+    "dependencies": {
+        "core": "file:../core"
+    }
+}

libs/music/_locales/music-strings.json

@@ -121,7 +121,7 @@
   "sounds.mechanicalMotorStart|block": "mechanical motor start",
   "sounds.mechanicalMotorStop|block": "mechanical motor stop",
   "sounds.mechanicalRatchet|block": "mechanical ratchet",
-  "sounds.mechanicalSonar|block": "\"mechanical sonar\"",
+  "sounds.mechanicalSonar|block": "mechanical sonar",
   "sounds.mechanicalTickTack|block": "mechanical tick tack",
   "sounds.mechanicalWalk|block": "mechanical walk",
   "sounds.movementsArm1|block": "movements arm1",

libs/music/sounds.ts

@@ -175,7 +175,7 @@ namespace sounds {
     export const mechanicalMotorStop = music.fromWAV(hex``);
     //% fixedInstance jres block="mechanical ratchet"
     export const mechanicalRatchet = music.fromWAV(hex``);
-    //% fixedInstance jres block='"mechanical sonar"'
+    //% fixedInstance jres block="mechanical sonar"
     export const mechanicalSonar = music.fromWAV(hex``);
     //% fixedInstance jres block="mechanical tick tack"
     export const mechanicalTickTack = music.fromWAV(hex``);

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

@@ -0,0 +1,29 @@
+{
+  "storage.Storage.append": "Append string data to a new or existing file.",
+  "storage.Storage.appendBuffer": "Append a buffer to a new or existing file.",
+  "storage.Storage.appendCSV": "Append a row of CSV data",
+  "storage.Storage.appendCSVHeaders": "Append a row of CSV headers",
+  "storage.Storage.appendCSVHeaders|param|filename": "the file name to append data, eg: \"data.csv\"",
+  "storage.Storage.appendCSVHeaders|param|headers": "the data to append",
+  "storage.Storage.appendCSV|param|data": "the data to append",
+  "storage.Storage.appendCSV|param|filename": "the file name to append data, eg: \"data.csv\"",
+  "storage.Storage.appendLine": "Appends a new line of data in the file",
+  "storage.Storage.appendLine|param|data": "the data to append",
+  "storage.Storage.appendLine|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.append|param|data": "the data to append",
+  "storage.Storage.append|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.exists": "Tests if a file exists",
+  "storage.Storage.exists|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.limit": "Resizing the size of a file to stay under the limit",
+  "storage.Storage.limit|param|filename": "name of the file to drop",
+  "storage.Storage.limit|param|size": "maximum length",
+  "storage.Storage.overwrite": "Overwrite file with string data.",
+  "storage.Storage.overwriteWithBuffer": "Overwrite file with a buffer.",
+  "storage.Storage.overwrite|param|data": "the data to append",
+  "storage.Storage.overwrite|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.read": "Read contents of file as a string.",
+  "storage.Storage.readAsBuffer": "Read contents of file as a buffer.",
+  "storage.Storage.remove": "Delete a file, or do nothing if it doesn't exist.",
+  "storage.Storage.size": "Return the size of the file, or -1 if it doesn't exists.",
+  "storage.temporary": "Temporary storage in memory, deleted when the device restarts."
+}

libs/storage/_locales/storage-strings.json

@@ -0,0 +1,15 @@
+{
+  "storage.Storage.appendCSVHeaders|block": "storage %source|%filename|append CSV headers %headers",
+  "storage.Storage.appendCSV|block": "storage %source|%filename|append CSV %data",
+  "storage.Storage.appendLine|block": "storage %source|%filename|append line %data",
+  "storage.Storage.append|block": "storage %source|%filename|append %data",
+  "storage.Storage.exists|block": "storage %source|%filename|exists",
+  "storage.Storage.limit|block": "storage %source|limit %filename|to %size|bytes",
+  "storage.Storage.overwrite|block": "storage %source|%filename|overwrite with|%data",
+  "storage.Storage.read|block": "storage %source|read %filename|as string",
+  "storage.Storage.remove|block": "storage %source|remove %filename",
+  "storage.Storage.size|block": "storage %source|%filename|size",
+  "storage.temporary|block": "temporary",
+  "storage|block": "storage",
+  "{id:category}Storage": "Storage"
+}

libs/storage/pxt.json

@@ -0,0 +1,14 @@
+{
+    "name": "storage",
+    "description": "USB Pen-drive support and flash storage",
+    "files": [
+        "storage.cpp",
+        "storage-core.ts",
+        "storage.ts",
+        "shims.d.ts"
+    ],
+    "public": true,
+    "dependencies": {
+        "core": "file:../core"
+    }
+}

libs/storage/shims.d.ts

@@ -0,0 +1,17 @@
+// Auto-generated. Do not edit.
+declare namespace storage {
+
+    /** Will be moved. */
+    //% shim=storage::__stringToBuffer
+    function __stringToBuffer(s: string): Buffer;
+
+    /** Will be moved. */
+    //% shim=storage::__bufferToString
+    function __bufferToString(s: Buffer): string;
+
+    /** Create named directory. */
+    //% shim=storage::__mkdir
+    function __mkdir(filename: string): void;
+}
+
+// Auto-generated. Do not edit. Really.

libs/storage/storage-core.ts

@@ -0,0 +1,202 @@
+namespace storage {
+    //% shim=storage::__unlink
+    function __unlink(filename: string): void { }
+    //% shim=storage::__truncate
+    function __truncate(filename: string): void { }
+
+    //% fixedInstances
+    export class Storage {
+        csvSeparator: string;
+        constructor() {
+            this.csvSeparator = ",";
+        }
+
+        protected mapFilename(filename: string) {
+            return filename;
+        }
+
+        private getFile(filename: string): MMap {
+            filename = this.mapFilename(filename)
+            let r = control.mmap(filename, 0, 0)
+            if (!r) {
+                __mkdir(this.dirname(filename))
+                __truncate(filename)
+                r = control.mmap(filename, 0, 0)
+            }
+            if (!r)
+                control.panic(906)
+            return r
+        }
+
+        dirname(filename: string) {
+            let last = 0
+            for (let i = 0; i < filename.length; ++i)
+                if (filename[i] == "/")
+                    last = i
+            return filename.substr(0, last)
+        }
+
+        /**
+         *  Append string data to a new or existing file. 
+         * @param filename the file name to append data, eg: "data.txt"
+         * @param data the data to append
+         */
+        //% blockId=storageAppend block="storage %source|%filename|append %data"
+        append(filename: string, data: string): void {
+            this.appendBuffer(filename, __stringToBuffer(data))
+        }
+
+        /**
+         * Appends a new line of data in the file
+         * @param filename the file name to append data, eg: "data.txt"
+         * @param data the data to append
+         */
+        //% blockId=storageAppendLine block="storage %source|%filename|append line %data"
+        appendLine(filename: string, data: string): void {
+            this.append(filename, data + "\r\n");
+        }
+
+        /** Append a buffer to a new or existing file. */
+        appendBuffer(filename: string, data: Buffer): void {
+            let f = this.getFile(filename);
+            f.lseek(0, SeekWhence.End)
+            f.write(data)
+        }
+
+        /**
+         * Append a row of CSV headers
+         * @param filename the file name to append data, eg: "data.csv"
+         * @param headers the data to append
+         */
+        //% blockId=storageAppendCSVHeaders block="storage %source|%filename|append CSV headers %headers"
+        appendCSVHeaders(filename: string, headers: string[]) {
+            let s = ""
+            for (const d of headers) {
+                if (s) s += this.csvSeparator;
+                s = s + d;
+            }
+            s += "\r\n"
+            this.append(filename, s)
+        }
+
+        /**
+         * Append a row of CSV data
+         * @param filename the file name to append data, eg: "data.csv"
+         * @param data the data to append
+         */
+        //% blockId=storageAppendCSV block="storage %source|%filename|append CSV %data"
+        appendCSV(filename: string, data: number[]) {
+            let s = toCSV(data, this.csvSeparator);
+            this.append(filename, s)
+        }
+
+        /** Overwrite file with string data.
+         * @param filename the file name to append data, eg: "data.txt"
+         * @param data the data to append
+         */
+        //% blockId=storageOverwrite block="storage %source|%filename|overwrite with|%data"
+        overwrite(filename: string, data: string): void {
+            this.overwriteWithBuffer(filename, __stringToBuffer(data))
+        }
+
+        /** Overwrite file with a buffer. */
+        overwriteWithBuffer(filename: string, data: Buffer): void {
+            __truncate(this.mapFilename(filename))
+            this.appendBuffer(filename, data)
+        }
+
+        /** Tests if a file exists
+         * @param filename the file name to append data, eg: "data.txt"
+         */
+        //% blockId=storageExists block="storage %source|%filename|exists"
+        exists(filename: string): boolean {
+            return !!control.mmap(this.mapFilename(filename), 0, 0);
+        }
+
+        /** Delete a file, or do nothing if it doesn't exist. */
+        //% blockId=storageRemove block="storage %source|remove %filename"
+        remove(filename: string): void {
+            __unlink(this.mapFilename(filename))
+        }
+
+        /** Return the size of the file, or -1 if it doesn't exists. */
+        //% blockId=storageSize block="storage %source|%filename|size"
+        size(filename: string): int32 {
+            let f = control.mmap(this.mapFilename(filename), 0, 0)
+            if (!f) return -1;
+            return f.lseek(0, SeekWhence.End)
+        }
+
+        /** Read contents of file as a string. */
+        //% blockId=storageRead block="storage %source|read %filename|as string"
+        read(filename: string): string {
+            return __bufferToString(this.readAsBuffer(filename))
+        }
+
+        /** Read contents of file as a buffer. */
+        //%
+        readAsBuffer(filename: string): Buffer {
+            let f = this.getFile(filename)
+            let sz = f.lseek(0, SeekWhence.End)
+            let b = output.createBuffer(sz)
+            f.lseek(0, SeekWhence.Set);
+            f.read(b)
+            return b
+        }
+
+        /**
+         * Resizing the size of a file to stay under the limit
+         * @param filename name of the file to drop
+         * @param size maximum length
+         */
+        //% blockId=storageLimit block="storage %source|limit %filename|to %size|bytes"
+        limit(filename: string, size: number) {
+            if (!this.exists(filename) || size < 0) return;
+
+            const sz = storage.temporary.size(filename);
+            if (sz > size) {
+                let buf = storage.temporary.readAsBuffer(filename)
+                buf = buf.slice(buf.length / 2);
+                storage.temporary.overwriteWithBuffer(filename, buf);
+            }
+        }
+    }
+
+    export function toCSV(data: number[], sep: string) {
+        let s = ""
+        for (const d of data) {
+            if (s) s += sep;
+            s = s + d;
+        }
+        s += "\r\n"
+        return s;
+    }
+
+    class TemporaryStorage extends Storage {
+        constructor() {
+            super();
+        }
+
+        protected mapFilename(filename: string) {
+            if (filename[0] == '/') filename = filename.substr(1);
+            return '/tmp/logs/' + filename;
+        }
+    }
+
+    /**
+     * Temporary storage in memory, deleted when the device restarts.
+     */
+    //% whenUsed fixedInstance block="temporary"
+    export const temporary: Storage = new TemporaryStorage();
+
+    class PermanentStorage extends Storage {
+        constructor() {
+            super()
+        }
+
+        protected mapFilename(filename: string) {
+            if (filename[0] == '/') return filename;
+            return '/' + filename;
+        }
+    }
+}

libs/storage/storage.cpp

@@ -0,0 +1,44 @@
+#include "pxt.h"
+
+#include <sys/types.h>
+#include <unistd.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+namespace storage {
+
+/** Will be moved. */
+//%
+Buffer __stringToBuffer(String s) {
+    return mkBuffer((uint8_t *)s->data, s->length);
+}
+
+/** Will be moved. */
+//%
+String __bufferToString(Buffer s) {
+    return mkString((char*)s->data, s->length);
+}
+
+//%
+void __init() {
+    // do nothing
+}
+
+//%
+void __unlink(String filename) {
+    ::unlink(filename->data);
+}
+
+//%
+void __truncate(String filename) {
+    int fd = open(filename->data, O_CREAT | O_TRUNC | O_WRONLY, 0777);
+    close(fd);
+}
+
+/** Create named directory. */
+//%
+void __mkdir(String filename) {
+    ::mkdir(filename->data, 0777);
+}
+
+} // namespace storage

libs/storage/storage.ts

@@ -0,0 +1,11 @@
+namespace storage {
+    // automatically send console output to temp storage
+    storage.temporary.remove("console.txt");
+    console.addListener(function(line) {
+        const fn = "console.txt";
+        const mxs = 65536;
+        const t = control.millis();
+        storage.temporary.appendLine(fn, `${t}> ${line}`);
+        storage.temporary.limit(fn, 65536);
+    })    
+}

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

@@ -5,7 +5,7 @@
   "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 %condition|to %value",
+  "sensors.UltraSonicSensor.setThreshold|block": "set %sensor|%condition|to %value",
   "sensors.ultrasonic1|block": "ultrasonic 1",
   "sensors.ultrasonic2|block": "ultrasonic 2",
   "sensors.ultrasonic3|block": "ultrasonic 3",

libs/ultrasonic-sensor/ultrasonic.ts

@@ -92,8 +92,9 @@ namespace sensors {
          * @param condition the dark or bright light condition
          * @param value the value threshold
          */
-        //% blockId=ultrasonicSetThreshold block="set %condition|to %value"
+        //% 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;

package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.51",
+  "version": "0.0.64",
   "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"

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.58",
+  "version": "0.0.68",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [
@@ -44,8 +44,8 @@
     "webfonts-generator": "^0.4.0"
   },
   "dependencies": {
-    "pxt-common-packages": "0.15.4",
-    "pxt-core": "3.0.7"
+    "pxt-common-packages": "0.15.6",
+    "pxt-core": "3.0.11"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

pxtarget.json

@@ -16,7 +16,10 @@
         "libs/infrared-sensor",
         "libs/gyro-sensor",
         "libs/chassis",
+        "libs/mood",
         "libs/ev3",
+        "libs/storage",
+        "libs/datalog",
         "libs/tests",
         "libs/behaviors"
     ],

sim/dalboard.ts

@@ -97,28 +97,21 @@ namespace pxsim {
             return this.brickNode;
         }
 
-        motorUsed(port: number, large: boolean) {
+        motorUsed(ports: number, large: boolean): 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) {
+                if (ports & p) {
                     const motorPort = this.motorMap[p];
                     const outputNode = this.outputNodes[motorPort];
-                    if (outputNode)
-                        return true;
+                    if (!outputNode) {
+                        this.outputNodes[motorPort] = new MotorNode(motorPort, large);
+                        continue;
+                    }
+                    if (outputNode && outputNode.isLarge() != large)
+                        return false;
                 }
             }
-            return false;
+            return true;
         }
 
         getMotor(port: number, large?: boolean): MotorNode[] {

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];

sim/state/control.ts

@@ -8,6 +8,7 @@ namespace pxsim.MMapMethods {
         read?: (d: Buffer) => number;
         write?: (d: Buffer) => number;
         ioctl?: (id: number, d: Buffer) => number;
+        lseek?: (offset: number, whence: number) => number;
     }
 
     import BM = pxsim.BufferMethods
@@ -23,6 +24,7 @@ namespace pxsim.MMapMethods {
             if (!impl.read) impl.read = () => 0
             if (!impl.write) impl.write = () => 0
             if (!impl.ioctl) impl.ioctl = () => -1
+            if (!impl.lseek) impl.lseek = (offset, whence) => -1
         }
         destroy() {
         }
@@ -68,6 +70,10 @@ namespace pxsim.MMapMethods {
     export function read(m: MMap, data: Buffer): number {
         return m.impl.read(data)
     }
+
+    export function lseek(m: MMap, offset: number, whence: number): number {
+        return m.impl.lseek(offset, whence);
+    }
 }
 
 namespace pxsim.control {

sim/state/input.ts

@@ -3,15 +3,23 @@
 import lf = pxsim.localization.lf;
 
 namespace pxsim.motors {
-
-    export function __motorUsed(port: number, large: boolean) {
-        //console.log("MOTOR INIT " + port);
-        if (!ev3board().hasMotor(port)) {
-            ev3board().motorUsed(port, large);
-            runtime.queueDisplayUpdate();
-        } else {
-            U.userError(`${lf("Multiple motors are connected to Port")} ${String.fromCharCode('A'.charCodeAt(0) + ev3board().motorMap[port])}`);
+    function portsToString(out: number): string {
+        let r = "";
+        for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
+            if (out & (1 << i)) {
+                if (r.length > 0) r += "+";
+                r += "ABCD"[i];
+            }
         }
+        return r;
+    }
+
+    export function __motorUsed(ports: number, large: boolean) {
+        //console.log("MOTOR INIT " + port);
+        if (ev3board().motorUsed(ports, large))
+            runtime.queueDisplayUpdate();
+        else
+            U.userError(`${lf("Multiple motors are connected to Port")} ${portsToString(ports)}`);
     }
 }
 

sim/state/motornode.ts

@@ -17,6 +17,8 @@ namespace pxsim {
         private speedCmdTime: number;
         private _synchedMotor: MotorNode; // non-null if synchronized
 
+        private manualSpeed: number = undefined;
+
         constructor(port: number, large: boolean) {
             super(port);
             this.setLarge(large);
@@ -42,7 +44,7 @@ namespace pxsim {
         setSpeedCmd(cmd: DAL, values: number[]) {
             if (this.speedCmd != cmd ||
                 JSON.stringify(this.speedCmdValues) != JSON.stringify(values))
-                this.setChangedState();    
+                this.setChangedState();
             // new command TODO: values
             this.speedCmd = cmd;
             this.speedCmdValues = values;
@@ -68,6 +70,10 @@ namespace pxsim {
             this.rotationsPerMilliSecond = (large ? 170 : 250) / 60000;
         }
 
+        isLarge(): boolean {
+            return this.id == NodeType.LargeMotor;
+        }
+
         setPolarity(polarity: number) {
             // Either 1 or 255 (reverse)
             /*
@@ -96,6 +102,17 @@ namespace pxsim {
             this.started = true;
         }
 
+        manualMotorDown() {
+        }
+
+        manualMotorMove(speed: number) {
+            this.manualSpeed = speed;
+        }
+
+        manualMotorUp() {
+            this.manualSpeed = undefined;
+        }
+
         updateState(elapsed: number) {
             //console.log(`motor: ${elapsed}ms - ${this.speed}% - ${this.angle}> - ${this.tacho}|`)
             const interval = Math.min(20, elapsed);
@@ -109,79 +126,84 @@ namespace pxsim {
         }
 
         private updateStateStep(elapsed: number) {
-            // compute new speed
-            switch (this.speedCmd) {
-                case DAL.opOutputSpeed:
-                case DAL.opOutputPower:
-                    // assume power == speed
-                    // TODO: PID
-                    this.speed = this.speedCmdValues[0];
-                    break;
-                case DAL.opOutputTimeSpeed:
-                case DAL.opOutputTimePower:
-                case DAL.opOutputStepPower:
-                case DAL.opOutputStepSpeed: {
-                    // ramp up, run, ramp down, <brake> using time
-                    const speed = this.speedCmdValues[0];
-                    const step1 = this.speedCmdValues[1];
-                    const step2 = this.speedCmdValues[2];
-                    const step3 = this.speedCmdValues[3];
-                    const brake = this.speedCmdValues[4];
-                    const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed)
-                        ? pxsim.U.now() - this.speedCmdTime
-                        : this.tacho - this.speedCmdTacho;
-                    if (dstep < step1) // rampup
-                        this.speed = speed * dstep / step1;
-                    else if (dstep < step1 + step2) // run
-                        this.speed = speed;
-                    else if (dstep < step1 + step2 + step3)
-                        this.speed = speed * (step1 + step2 + step3 - dstep) / (step1 + step2 + step3);
-                    else {
-                        if (brake) this.speed = 0;
-                        this.clearSpeedCmd();
-                    }
-                    break;
-                }
-                case DAL.opOutputStepSync:
-                case DAL.opOutputTimeSync: {
-                    const otherMotor = this._synchedMotor;
-                    if (otherMotor.port < this.port) // handled in other motor code
+            if (!this.manualSpeed) {
+                // compute new speed
+                switch (this.speedCmd) {
+                    case DAL.opOutputSpeed:
+                    case DAL.opOutputPower:
+                        // assume power == speed
+                        // TODO: PID
+                        this.speed = this.speedCmdValues[0];
+                        break;
+                    case DAL.opOutputTimeSpeed:
+                    case DAL.opOutputTimePower:
+                    case DAL.opOutputStepPower:
+                    case DAL.opOutputStepSpeed: {
+                        // ramp up, run, ramp down, <brake> using time
+                        const speed = this.speedCmdValues[0];
+                        const step1 = this.speedCmdValues[1];
+                        const step2 = this.speedCmdValues[2];
+                        const step3 = this.speedCmdValues[3];
+                        const brake = this.speedCmdValues[4];
+                        const dstep = (this.speedCmd == DAL.opOutputTimePower || this.speedCmd == DAL.opOutputTimeSpeed)
+                            ? pxsim.U.now() - this.speedCmdTime
+                            : this.tacho - this.speedCmdTacho;
+                        if (dstep < step1) // rampup
+                            this.speed = speed * dstep / step1;
+                        else if (dstep < step1 + step2) // run
+                            this.speed = speed;
+                        else if (dstep < step1 + step2 + step3)
+                            this.speed = speed * (step1 + step2 + step3 - dstep) / (step1 + step2 + step3);
+                        else {
+                            if (brake) this.speed = 0;
+                            this.clearSpeedCmd();
+                        }
                         break;
-
-                    const speed = this.speedCmdValues[0];
-                    const turnRatio = this.speedCmdValues[1];
-                    const stepsOrTime = this.speedCmdValues[2];
-                    const brake = this.speedCmdValues[3];
-                    const dstep = this.speedCmd == DAL.opOutputTimeSync
-                        ? pxsim.U.now() - this.speedCmdTime
-                        : this.tacho - this.speedCmdTacho;
-                    // 0 is special case, run infinite
-                    if (!stepsOrTime || dstep < stepsOrTime)
-                        this.speed = speed;
-                    else {
-                        if (brake) this.speed = 0;
-                        this.clearSpeedCmd();
                     }
+                    case DAL.opOutputStepSync:
+                    case DAL.opOutputTimeSync: {
+                        const otherMotor = this._synchedMotor;
+                        if (otherMotor.port < this.port) // handled in other motor code
+                            break;
 
-                    // 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;
+                        const speed = this.speedCmdValues[0];
+                        const turnRatio = this.speedCmdValues[1];
+                        const stepsOrTime = this.speedCmdValues[2];
+                        const brake = this.speedCmdValues[3];
+                        const dstep = this.speedCmd == DAL.opOutputTimeSync
+                            ? pxsim.U.now() - this.speedCmdTime
+                            : this.tacho - this.speedCmdTacho;
+                        // 0 is special case, run infinite
+                        if (!stepsOrTime || dstep < stepsOrTime)
+                            this.speed = speed;
+                        else {
+                            if (brake) this.speed = 0;
+                            this.clearSpeedCmd();
+                        }
+
+                        // 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;
                     }
-
-                    // 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;
                 }
             }
+            else {
+                this.speed = this.manualSpeed;
+            }
             this.speed = Math.round(this.speed); // integer only
 
             // compute delta angle

sim/state/output.ts

@@ -97,6 +97,7 @@ namespace pxsim {
                             motors.forEach(motor => motor.stop());
                             return 2;
                         }
+                        case DAL.opOutputPower: 
                         case DAL.opOutputSpeed: {
                             // setSpeed
                             const port = buf.data[1];

sim/state/storage.ts

@@ -0,0 +1,23 @@
+namespace pxsim.storage {
+    export function __stringToBuffer(s: string): RefBuffer {
+        // TODO
+        return new RefBuffer(new Uint8Array([]));
+    }
+
+    export function __bufferToString(b: RefBuffer): string {
+        // TODO
+        return "";
+    }
+
+    export function __mkdir(fn: string) {
+        // TODO
+    }
+
+    export function __unlink(filename: string): void { 
+        // TODO
+    }
+
+    export function __truncate(filename: string): void { 
+        // TODO
+    }
+}

sim/visuals/assets/Large Motor.svg

@@ -1,92 +1,77 @@
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 82 156">
-  <defs>
-    <clipPath id="clip-path" transform="translate(0.98 1.9)">
-      <path d="M79,17.05A17.07,17.07,0,0,1,64.92,33.86l.36.39V70c0,.42-.14.4-.39.68L54,81.22v10l.75.78v.79h6.79a4,4,0,0,1,4,4v25.82a4,4,0,0,1-4,4H54.75v8.18A5.79,5.79,0,0,1,49,140.61h-6.5v7.57a4,4,0,0,1-2.9,3.84v1a.6.6,0,0,1-.6.6H12.69a.6.6,0,0,1-.6-.6h0v-1.29a4,4,0,0,1-2.17-3.55v-7.57H6.3a5.78,5.78,0,0,1-5.78-5.79h0V105.18C10.89,91.12,18.65,81.32,18.65,81.32h.59l13.68.1,0-11.8H26a4,4,0,0,1-4-4V39.79a4,4,0,0,1,4-4h6.78l0-11.77c0-.84.15-.84.46-1.14l10.41-10.1.22-.19a1.53,1.53,0,0,1,1.59.23A17.07,17.07,0,0,1,79,17.05Z" style="fill: none"/>
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+                    <g id="Group" fill="#D42715">
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-  </g>
-</svg>
+</svg>

sim/visuals/assets/LargeMotorsvg.ts

@@ -1,94 +1,79 @@
 namespace pxsim {
-    export const LARGE_MOTOR_SVG = `<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" viewBox="0 0 82 156">
-  <defs>
-    <clipPath id="clip-path" transform="translate(0.98 1.9)">
-      <path d="M79,17.05A17.07,17.07,0,0,1,64.92,33.86l.36.39V70c0,.42-.14.4-.39.68L54,81.22v10l.75.78v.79h6.79a4,4,0,0,1,4,4v25.82a4,4,0,0,1-4,4H54.75v8.18A5.79,5.79,0,0,1,49,140.61h-6.5v7.57a4,4,0,0,1-2.9,3.84v1a.6.6,0,0,1-.6.6H12.69a.6.6,0,0,1-.6-.6h0v-1.29a4,4,0,0,1-2.17-3.55v-7.57H6.3a5.78,5.78,0,0,1-5.78-5.79h0V105.18C10.89,91.12,18.65,81.32,18.65,81.32h.59l13.68.1,0-11.8H26a4,4,0,0,1-4-4V39.79a4,4,0,0,1,4-4h6.78l0-11.77c0-.84.15-.84.46-1.14l10.41-10.1.22-.19a1.53,1.53,0,0,1,1.59.23A17.07,17.07,0,0,1,79,17.05Z" style="fill: none"/>
-    </clipPath>
-    <clipPath id="clip-path-2" transform="translate(0.98 1.9)">
-      <path d="M49,140.61H6.3a5.78,5.78,0,0,1-5.78-5.79h0V105.18C10.89,91.12,18.65,81.32,18.65,81.32h.59s19.46.14,23.87.14a2.27,2.27,0,0,1,2.37,1L54.75,92v42.79A5.79,5.79,0,0,1,49,140.61Z" style="fill: none"/>
-    </clipPath>
-    <clipPath id="clip-path-3" transform="translate(0.98 1.9)">
-      <path d="M43.18,135.24H12.09a5.78,5.78,0,0,1-5.79-5.78h0V107.21C15,95.94,21.86,86.8,21.86,86.8H43.18A5.78,5.78,0,0,1,49,92.58h0v36.88a5.78,5.78,0,0,1-5.78,5.78Z" style="fill: none"/>
-    </clipPath>
-  </defs>
-  <title>Large Motor</title>
-  <g style="isolation: isolate">
-    <g id="e13b39e7-895d-4931-9be9-7aecaf709784">
-      <g style="clip-path: url(#clip-path)">
-        <g id="Large_Motor" data-name="Large Motor">
-          <path id="LM_back2" data-name="LM back2" d="M39,153.62H12.69a.6.6,0,0,1-.6-.6h0v-5.3a.6.6,0,0,1,.6-.6H39a.6.6,0,0,1,.6.6V153A.6.6,0,0,1,39,153.62Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
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-          </g>
-          <g id="LM_rightside" data-name="LM rightside">
-            <path id="LM_rightside5" data-name="LM rightside5" d="M33.08,69.61H27.47A5.45,5.45,0,0,1,22,64.15h0V41.25a5.45,5.45,0,0,1,5.46-5.46h5.61a5.46,5.46,0,0,1,5.46,5.46v22.9A5.45,5.45,0,0,1,33.08,69.61Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
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-            <circle id="LM_rightside3" data-name="LM rightside3" cx="28.3" cy="43" r="3.79" style="fill: #fff"/>
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-          <g>
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-            <path id="LM_level4-2" data-name="LM level4-2" d="M64.91,70.7,51.5,83.63,32.93,83,32.76,24c0-.84.16-.84.46-1.13l10.42-10.1.21-.19c.59-.4,2,.11,2,.95L65.29,34.25V70C65.3,70.44,65.16,70.43,64.91,70.7Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
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-          <g id="LM_total" data-name="LM total">
-            <g id="LM_whitepart" data-name="LM whitepart">
-              <g style="clip-path: url(#clip-path-2)">
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+    export const LARGE_MOTOR_SVG = `<?xml version="1.0" encoding="UTF-8"?>
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+    <!-- Generator: Sketch 48.2 (47327) - http://www.bohemiancoding.com/sketch -->
+    <title>Large Motor</title>
+    <desc>Created with Sketch.</desc>
+    <defs></defs>
+    <g id="Artboard" stroke="none" stroke-width="1" fill="none" fill-rule="evenodd" transform="translate(-66.000000, -54.000000)">
+        <g id="Large-Motor" transform="translate(66.000000, 54.000000)">
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+            <g id="Group" transform="translate(9.000000, 136.000000)">
+                <image id="Bitmap" opacity="0.3" style="mix-blend-mode: multiply;" x="0" y="0" width="36" height="20" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACUAAAAVCAYAAADB5CeuAAAAAXNSR0IArs4c6QAAAMRJREFUSA3tlrERwjAMRW2OEmYgPQMwFrMwAytBT1iB9OY/x05J1IAopLtv2Y5yevfPhXIpJWVF+oMQSwEDmJ00tKzkFpM6P8Q1bbUZpLN0lLwcw6G7dJFuQOEUQCfJE0rtK0sCigCmq144LIshG4fmqy0DatWiVhBOhVNWB6x18abCKasD1rr+puocY/3pS3ULA1DMMU/pJfHBQ/SGAZY6JYzKVw6Kw5x+vnYGcsptHN5rDxCzlUfg0CgWHJuhPCg+9XwDDy9ID0K8XgsAAAAASUVORK5CYII="></image>
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+            </g>
+            <g id="LM_rightside" transform="translate(22.000000, 37.000000)" fill-rule="nonzero">
+                <path d="M12.06,34.51 L6.45,34.51 C4.99937339,34.5153259 3.60647912,33.9421088 2.57978624,32.9172929 C1.55309337,31.892477 0.977328505,30.5006339 0.98,29.05 L0.98,6.15 C0.977339027,4.70110385 1.55173283,3.31078487 2.57625885,2.28625885 C3.60078487,1.26173283 4.99110385,0.687339027 6.44,0.69 L12.05,0.69 C15.0654747,0.69 17.51,3.13452527 17.51,6.15 L17.51,29.05 C17.5126553,30.4971617 16.939633,31.8859609 15.9172718,32.910198 C14.8949106,33.9344351 13.5071641,34.5100024 12.06,34.51 Z" id="LM_rightside5" fill="#A8AAA8"></path>
+                <circle id="LM_rightside4" fill="#FFFFFF" cx="6.3" cy="29.21" r="3.79"></circle>
+                <circle id="LM_rightside3" fill="#FFFFFF" cx="6.3" cy="6" r="3.79"></circle>
+                <path d="M3.38,24.59 C4.07351535,24.1313154 4.88857129,23.8909784 5.72,23.9 C6.76862292,23.8298668 7.81405119,24.0772848 8.72,24.61 C9.97,25.54 9.95,24.51 9.95,24.51 L9.95,22.71 C9.95,22.26 9.39,21.86 8.72,22.25 L7.72,22.83 C7.72,22.83 7.36,23.02 7.36,22.5 L7.36,19.9 C7.36,19.9 7.36,19.11 8.09,19.13 C8.82,19.15 9.47,19.13 9.47,19.13 C9.47,19.13 9.76,18.88 9.76,17.74 C9.76,16.6 9.47,16.42 9.47,16.42 L8.08,16.42 C8.08,16.42 7.35,16.42 7.35,15.77 L7.35,14.47 C7.35,14.47 7.12,14.11 6.18,14.17 C5.6978322,14.1741563 5.22153417,14.2762201 4.78,14.47 L4.78,15.77 C4.77453579,16.1305967 4.48063814,16.4200414 4.12,16.42 C3.49,16.42 2.86,16.42 2.86,16.42 C2.86,16.42 2.61,16.61 2.57,17.74 C2.53,18.87 2.86,19.13 2.86,19.13 L4.12,19.13 C4.12,19.13 4.92,19.18 4.94,19.9 C4.96,20.62 4.94,22.52 4.94,22.52 C4.94,22.52 4.94,23.03 4.6,22.85 L3.39,22.27 C3.39,22.27 2.56,21.86 2.57,22.73 C2.58,23.6 2.57,24.53 2.57,24.53 C2.57,24.53 2.65,25.02 3.38,24.59 Z" id="LM_rightside2" fill="#FFFFFF"></path>
+                <path d="M10.23,12.79 C10.1913976,13.0147775 10.0630557,13.2141964 9.87446015,13.3424414 C9.68586455,13.4706864 9.453229,13.5167322 9.23,13.47 C9.14591061,13.4523039 9.06499079,13.421959 8.99,13.38 C8.1099436,12.9124008 7.1357966,12.6492102 6.14,12.61 C5.162003,12.5962776 4.20061308,12.8635231 3.37,13.38 C2.54,13.78 2.3,12.79 2.3,12.79 L2.3,11.03 C2.33192589,10.6400455 2.66941985,10.3469587 3.06,10.37 C3.16998614,10.3773249 3.27646607,10.4116733 3.37,10.47 C4.20732336,10.980005 5.16044012,11.2690368 6.14,11.31 C7.13850164,11.2335413 8.10964397,10.9473099 8.99,10.47 C8.99,10.47 10.17,10.23 10.19,11.03 C10.21,11.83 10.23,12.79 10.23,12.79 Z" id="LM_rightside1" fill="#FFFFFF"></path>
+            </g>
+            <g id="Group" transform="translate(32.000000, 12.000000)">
+                <image id="Bitmap" opacity="0.3" style="mix-blend-mode: multiply;" x="0" y="0" width="36" height="76" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACUAAABNCAYAAAAhOa00AAAAAXNSR0IArs4c6QAAAnlJREFUaAXtmsFRwzAQRROGI6EEwhmGEqABTtyhACqiAC4cOVBBaAEKCB0AuYf/hdbjBMcrbYTlw+7MZp3IWr98OZIn2ul6vZ7k2BTG89Evr2PGRaY5ucEzQ+55zL9EXP0HXDJUBLoCyG2EekZ8hy8B9h0/KxKSoFpA97jqJZxDSKUI9QhflAQ7RMJe2wKiUhxC2jn8BH7ENzivGFgvVA9Q4MDLMZygwUqB7YRSgISDkcoVBeuEygASuLJgnBLaHr/5NeIL/AvO+SjVP3HuE/wCHn5E7dypxwfo3JhBoaZvPKBiZ9F5bDOhR28msSrUVpLqUmXmmkn+nBiGjp1jEsuQtYHkeC8wsBQH2huMv745/A7Omdp+H6DzljGXaaogFGdkzswlgZAumAlM5qnwOCKZCsdsMIEqzPEnXRbYUFCkTAYbEioZbGioJLAaUCpYLahesJpQO8FqQwkYV5MVnM/9bxuPLjyjknG64KoSnvfHAkUtmlVlTFAEC+ZQooQWXSlNIWl3pUQJLbpSmkLS7kqJElp0pTSFpN2VEiW06EppCkm7KyVKaNGV0hSSdldKlNCiK6UpJO2ulCihRVdKU0jaXSlRQouulKaQtI9JKW7JBRsLFCtAPuD8M3YyBigCvcJZCcJ/h6tDEWgBf2DEPnOomampVCcQ4KoptROoFlQvUA0oFWhoqCSgIaGSgYaCygIaAiobiFCy3yelIPyM1uwo/b41vZqAeCVCcb1hwR+NMNxzY6lJ2HtDtBiBuHRszNSpiQTiFB0EgkA3cEarcQ0zVzWGajAUc7WHq4RSYetV1rLcb9ZZ57kFmZsznA8g3qcm64QyZSrY6Qey39wRVmjftAAAAABJRU5ErkJggg=="></image>
+                <path d="M33.89,60.6 L20.48,73.53 L1.91,72.9 L1.74,13.9 C1.74,13.06 1.9,13.06 2.2,12.77 L12.62,2.67 L12.83,2.48 C13.42,2.08 14.83,2.59 14.83,3.43 L34.27,24.15 L34.27,59.9 C34.28,60.34 34.14,60.33 33.89,60.6 Z" id="LM_level4-2" fill="#A8AAA8" fill-rule="nonzero"></path>
+            </g>
+            <g id="Group" transform="translate(32.000000, 69.000000)">
+                <image id="Bitmap" opacity="0.3" style="mix-blend-mode: multiply;" x="0" y="0" width="25" height="27" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABoAAAAcCAYAAAB/E6/TAAAAAXNSR0IArs4c6QAAAZhJREFUSA3tlj1SwzAQRnEmJanogYoChiOQC1BxAA7AcTgDDQfgBLlDekxNQ5LefE/WeizHGa9l07Ezny3L2n36W9lFVVVnXStk3Trvs+IdB5Rz0a0XY6X6K+ncG7zV7qByqZj7Vl0oJqAIWevNswRsrJVyeJM2XdjSIrUgL6p7kBjZWLuVQ5gJxUthcepYk3vpXfqRmOdc7eT7IT1KK+IjGxG9pzcoZyRyawx/ZiSsl0a2FahaxCnjBetyLWXvOPmaAbuUmg210AOLDgTY1NEoRGNJhwFBhT4npKFZARCW0Ouqea8GmjdqT7R/UM+k+KosYe0U8HhlbRxAZPA2EoaCkArkHfehtjFkfQP0Kb1KTRarfMqAPEl3EmV37i11DB04j+TkMdohQJwmfFJcsLBGHHpy8Ng+dupLjZlyzAWzzVC7OK6xUzsBN63mg7DRIAsuIKNzw7JBAMfAJoFOwPjcHO3gyaAeGJuEL3XyJzQLqAMrI+imDUt+t3CYatognBhM3YX0rXUMaTA7yDoKMKZCqPozkAHt/gsh4I9CsIZ80gAAAABJRU5ErkJggg=="></image>
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+            </g>
+            <g id="LM_leftside" transform="translate(49.000000, 94.000000)" fill-rule="nonzero">
+                <path d="M12.06,34.54 L6.45,34.54 C4.99937339,34.5453259 3.60647912,33.9721088 2.57978624,32.9472929 C1.55309337,31.922477 0.977328505,30.5306339 0.98,29.08 L0.98,6.18 C0.98,3.16452527 3.42452527,0.72 6.44,0.72 L12.05,0.72 C15.0631921,0.725503561 17.5044964,3.16680786 17.51,6.18 L17.51,29.08 C17.5126553,30.5271617 16.939633,31.9159609 15.9172718,32.940198 C14.8949106,33.9644351 13.5071641,34.5400024 12.06,34.54 Z" id="LM_leftside5" fill="#A8AAA8"></path>
+                <circle id="LM_leftside4" fill="#FFFFFF" cx="12.67" cy="29.24" r="3.79"></circle>
+                <circle id="LM_leftside3" fill="#FFFFFF" cx="12.67" cy="6.03" r="3.79"></circle>
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-                <circle id="LM_detail_red_hole3" data-name="LM detail red hole3" cx="51.75" cy="15.89" r="3.79" style="fill: #393939"/>
-                <circle id="LM_detail_red_hole2" data-name="LM detail red hole2" cx="65.87" cy="7.74" r="3.79" style="fill: #393939"/>
-                <circle id="LM_detail_red_hole1" data-name="LM detail red hole1" cx="74.02" cy="21.86" r="3.79" style="fill: #393939"/>
-                <path id="LM_detail_hole" data-name="LM detail hole" d="M64.2,16.41a.72.72,0,0,1-.55-.91c.21-.72.36-1.33.36-1.33s-.17-.35-1.27-.64-1.35-.06-1.35-.06L61,14.8s-.16.72-.81.54L59,15s-.4.13-.6,1.06a3.44,3.44,0,0,0-.06,1.43l1.25.33a.68.68,0,0,1,.46.81c-.16.61-.33,1.21-.33,1.21s.12.3,1.2.62,1.42.09,1.42.09l.32-1.22s.26-.76,1-.59q.6.17,1.2.39a2.92,2.92,0,0,0,.7-2.25C64.91,16.65,64.2,16.41,64.2,16.41Z" transform="translate(0.98 1.9)" style="fill: #1f1f1f"/>
-                <path id="LM_detail_red4" data-name="LM detail red4" d="M61.64,24.23,60.09,24l-1.53-.57a.46.46,0,0,1-.33-.56h0l.55-2.05a.46.46,0,0,1,.56-.32l1.45.6,1.63.22a.46.46,0,0,1,.33.56h0l-.55,2.05a.44.44,0,0,1-.55.32Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
-                <path id="LM_detail_red3" data-name="LM detail red3" d="M69.15,17.3l-.26,1.55-.57,1.52a.45.45,0,0,1-.55.33h0l-2.06-.55a.46.46,0,0,1-.32-.56L66,18.15l.22-1.63a.45.45,0,0,1,.55-.33h0l2,.55a.46.46,0,0,1,.32.56Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
-                <path id="LM_detail_red2" data-name="LM detail red2" d="M62.21,9.79l1.55.25,1.53.57a.46.46,0,0,1,.33.55h0l-.55,2.05a.46.46,0,0,1-.56.32l-1.45-.6-1.63-.22a.47.47,0,0,1-.33-.56h0l.55-2.05a.44.44,0,0,1,.55-.32Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
-                <path id="LM_detail_red1" data-name="LM detail red1" d="M54.7,16.72,55,15.17l.57-1.52a.45.45,0,0,1,.55-.33h0l2.06.55a.46.46,0,0,1,.32.56l-.61,1.44-.22,1.63a.45.45,0,0,1-.55.33h0l-2-.55a.46.46,0,0,1-.32-.56Z" transform="translate(0.98 1.9)" style="fill: #393939"/>
-              </g>
-            </g>
-          </g>
         </g>
-      </g>
     </g>
-  </g>
 </svg>`;
 }

sim/visuals/board.ts

@@ -44,7 +44,7 @@ namespace pxsim.visuals {
         }
         .sim-text.number {
             font-family: Courier, Lato, Work Sans, PT Serif, Source Serif Pro;
-            font-weight: bold;
+            /*font-weight: bold;*/
         }
         .sim-text.inverted {
             fill:#5A5A5A;
@@ -71,6 +71,15 @@ namespace pxsim.visuals {
             fill: gray !important;
             cursor: pointer;
         }
+
+        /* Motor slider */
+        .sim-motor-btn {
+            cursor: pointer;
+        }
+        .sim-motor-btn:hover .btn {
+            stroke-width: 2px;
+            stroke: black !important;
+        }
     `;
 
     const EV3_WIDTH = 99.984346;
@@ -222,9 +231,8 @@ namespace pxsim.visuals {
                 }
                 case NodeType.MediumMotor:
                 case NodeType.LargeMotor: {
-                    // TODO: figure out if the motor is in "input" or "output" mode
                     const state = ev3board().getMotors()[port];
-                    view = new MotorReporterControl(this.element, this.defs, state, port);
+                    view = new MotorSliderControl(this.element, this.defs, state, port);
                     break;
                 }
             }

sim/visuals/controls/distanceSlider.ts

@@ -27,8 +27,8 @@ namespace pxsim.visuals {
             this.group = svg.elt("g") as SVGGElement;
 
             const reporterGroup = pxsim.svg.child(this.group, "g");
-            reporterGroup.setAttribute("transform", `translate(31, 42)`);
-            this.reporter = pxsim.svg.child(reporterGroup, "text", { 'x': 0, 'y': '0', 'class': 'sim-text number large inverted' }) as SVGTextElement;
+            reporterGroup.setAttribute("transform", `translate(${this.getWidth() / 2}, 42)`);
+            this.reporter = pxsim.svg.child(reporterGroup, "text", { 'text-anchor': 'middle', 'x': 0, 'y': '0', 'class': 'sim-text number large inverted' }) as SVGTextElement;
 
             const sliderGroup = pxsim.svg.child(this.group, "g");
             sliderGroup.setAttribute("transform", `translate(${this.getWidth() / 2 - this.getSliderWidth() / 2}, ${this.getReporterHeight()})`)
@@ -60,12 +60,15 @@ namespace pxsim.visuals {
             }, ev => {
                 captured = true;
                 if ((ev as MouseEvent).clientY != undefined) {
+                    dragSurface.setAttribute('cursor', '-webkit-grabbing');
                     this.updateSliderValue(pt, parent, ev as MouseEvent);
                 }
             }, () => {
                 captured = false;
+                dragSurface.setAttribute('cursor', '-webkit-grab');
             }, () => {
                 captured = false;
+                dragSurface.setAttribute('cursor', '-webkit-grab');
             })
 
             return this.group;

sim/visuals/controls/motorSlider.ts

@@ -0,0 +1,167 @@
+
+
+namespace pxsim.visuals {
+
+    export class MotorSliderControl extends ControlView<MotorNode> {
+        private group: SVGGElement;
+        private gradient: SVGLinearGradientElement;
+        private slider: SVGGElement;
+
+        private reporter: SVGTextElement;
+
+        private dial: SVGGElement;
+
+        private static SLIDER_RADIUS = 100;
+
+        private internalSpeed: number = 0;
+
+        getInnerView(parent: SVGSVGElement, globalDefs: SVGDefsElement) {
+            this.group = svg.elt("g") as SVGGElement;
+
+            const slider = pxsim.svg.child(this.group, 'g', { 'transform': 'translate(25,25)' })
+            const outerCircle = pxsim.svg.child(slider, "circle", {
+                'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
+                'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent;`,
+                'stroke': '#a8aaa8', 'stroke-width': '1rem'
+            }) as SVGCircleElement;
+
+            this.reporter = pxsim.svg.child(this.group, "text", {
+                'x': this.getInnerWidth() / 2, 'y': this.getInnerHeight() / 2,
+                'text-anchor': 'middle', 'alignment-baseline': 'middle',
+                'style': 'font-size: 50px',
+                'class': 'sim-text inverted number'
+            }) as SVGTextElement;
+
+            this.dial = pxsim.svg.child(slider, "g", { 'cursor': '-webkit-grab' }) as SVGGElement;
+            const handleInner = pxsim.svg.child(this.dial, "g");
+            pxsim.svg.child(handleInner, "circle", { 'cx': 0, 'cy': 0, 'r': 30, 'style': 'fill: #f12a21;' });
+            pxsim.svg.child(handleInner, "circle", { 'cx': 0, 'cy': 0, 'r': 29.5, 'style': 'fill: none;stroke: #b32e29' });
+
+            this.updateDial();
+
+            let pt = parent.createSVGPoint();
+            let captured = false;
+
+            const dragSurface = svg.child(this.group, "rect", {
+                x: 0,
+                y: 0,
+                width: this.getInnerWidth(),
+                height: this.getInnerHeight(),
+                opacity: 0,
+                cursor: '-webkit-grab'
+            })
+
+            touchEvents(dragSurface, ev => {
+                if (captured && (ev as MouseEvent).clientY != undefined) {
+                    ev.preventDefault();
+                    this.updateSliderValue(pt, parent, ev as MouseEvent);
+                    this.handleSliderMove();
+                }
+            }, ev => {
+                captured = true;
+                if ((ev as MouseEvent).clientY != undefined) {
+                    this.updateSliderValue(pt, parent, ev as MouseEvent);
+                    this.handleSliderDown();
+                }
+            }, () => {
+                captured = false;
+                this.handleSliderUp();
+            }, () => {
+                captured = false;
+                this.handleSliderUp();
+            })
+
+            return this.group;
+        }
+
+        getInnerWidth() {
+            return 250;
+        }
+
+        getInnerHeight() {
+            return 250;
+        }
+
+        private lastPosition: number;
+        private prevVal: number;
+        private updateSliderValue(pt: SVGPoint, parent: SVGSVGElement, ev: MouseEvent) {
+            let cur = svg.cursorPoint(pt, parent, ev);
+            const coords = {
+                x: cur.x / this.scaleFactor - this.left / this.scaleFactor,
+                y: cur.y / this.scaleFactor - this.top / this.scaleFactor
+            };
+            const radius = MotorSliderControl.SLIDER_RADIUS / 2;
+            const dx = coords.x - radius;
+            const dy = coords.y - radius;
+            const atan = Math.atan(-dy / dx);
+            let deg = Math.ceil(atan * (180 / Math.PI));
+
+            if (dx < 0) {
+                deg -= 270;
+            } else if (dy > 0) {
+                deg -= 450;
+            } else if (dx >= 0 && dy <= 0) {
+                deg = 90 - deg;
+            }
+            const value = Math.abs(Math.ceil((deg % 360) / 360 * this.getMax()));
+
+            this.internalSpeed = value;
+            this.updateDial();
+
+            this.prevVal = deg;
+            this.lastPosition = cur.x;
+        }
+
+        private handleSliderDown() {
+            const state = this.state;
+            state.manualMotorDown();
+        }
+
+        private handleSliderMove() {
+            this.dial.setAttribute('cursor', '-webkit-grabbing');
+            const state = this.state;
+            state.manualMotorMove(this.internalSpeed);
+        }
+
+        private handleSliderUp() {
+            this.dial.setAttribute('cursor', '-webkit-grab');
+            const state = this.state;
+            state.manualMotorUp();
+
+            this.internalSpeed = 0;
+            this.updateDial();
+        }
+
+        private updateDial() {
+            let speed = this.internalSpeed;
+
+            // Update dial position
+            const deg = speed / this.getMax() * 360; // degrees
+            const radius = MotorSliderControl.SLIDER_RADIUS;
+            const dialRadius = 5;
+            const x = Math.ceil((radius - dialRadius) * Math.sin(deg * Math.PI / 180)) + radius;
+            const y = Math.ceil((radius - dialRadius) * -Math.cos(deg * Math.PI / 180)) + radius;
+            this.dial.setAttribute('transform', `translate(${x}, ${y})`);
+        }
+
+        updateState() {
+            if (!this.visible) {
+                return;
+            }
+            const node = this.state;
+            const speed = node.getSpeed();
+
+            // Update reporter
+            this.reporter.textContent = `${speed}`;
+        }
+
+        private getMin() {
+            return 0;
+        }
+
+        private getMax() {
+            return 100;
+        }
+    }
+
+}

sim/visuals/nodes/largeMotorView.ts

@@ -46,9 +46,9 @@ namespace pxsim.visuals {
         }
 
         protected renderMotorAngle(holeEl: Element, angle: number) {
-            const width = 125.92;
-            const height = 37.9;
-            const transform = `rotate(${angle} ${width / 2} ${height / 2})`;
+            const width = 35.92;
+            const height = 35.9;
+            const transform = `translate(45.000000, 1.000000) rotate(${angle} ${width / 2} ${height / 2})`;
             holeEl.setAttribute("transform", transform);
         }
 

theme/blockly.less

@@ -18,7 +18,7 @@
 }
 
 .blocklyFlyoutLabel .blocklyFlyoutLabelIcon {
-    font-family: 'legoIcons';
+    font-family: 'legoIcons' !important;
 }
 
 span.blocklyTreeIcon {