0.0.70

* updated block definitions

* updated dependency on common packages

docs/SUMMARY.md

@@ -1,5 +1,11 @@
 # @extends
 
+## Lessons #Lessons
+
+* [Lessons](/lessons)
+    * [Make it move](/lessons/make-it-move)
+    * [Line detection](/lessons/line-detection)
+
 ## Reference #reference
 
 * [Reference](/reference)

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

@@ -0,0 +1,178 @@
+# Gyroboy
+
+Work in progress
+
+```blocks
+let motorSpeed1 = 0
+let motorSpeed2 = 0
+let motorSpeed3 = 0
+let motorSpeed = 0
+let fallen = false
+let motorSpeed0 = 0
+let oldControlDrive = 0
+let controlDrive = 0
+let power = 0
+let motorAngle = 0
+let gyroAngle = 0
+let controlSteering = 0
+let state = 0
+let motorPosition = 0
+let temp = 0
+let gyroRate = 0
+let timestep = 0
+sensors.color1.onColorDetected(ColorSensorColor.Red, function () {
+    music.playTone(2000, 100)
+    controlDrive = 0
+    controlSteering = 0
+})
+// reads the motor angle and computes the motor speed,
+// position
+function computeMotors() {
+    temp = motorAngle
+    // read angle on both motors
+    motorAngle = motors.largeD.angle() + motors.largeA.angle()
+    // and estimate speed as angle difference
+    motorSpeed0 = motorAngle - temp
+    // average last 4 speed readings
+    motorSpeed = (motorSpeed0 + motorSpeed1 + motorSpeed2 + motorSpeed3) / 4 / timestep
+    // shift all previous recorded speeds by one
+    motorSpeed3 = motorSpeed2
+    motorSpeed2 = motorSpeed1
+    motorSpeed1 = motorSpeed0
+    // compute position from speed
+    motorPosition = motorPosition + timestep * motorSpeed
+}
+// read the gyro rate and computes the angle
+function computeGyro() {
+    gyroRate = sensors.gyro2.rate()
+    gyroAngle = gyroAngle + timestep * gyroRate
+}
+function reset() {
+    state = 0
+    // sleeping
+    moods.sleeping.show();
+    // reset counters
+    motors.largeA.reset()
+    motors.largeD.reset()
+    // motors are unregulated
+    motors.largeA.setRegulated(false)
+    motors.largeD.setRegulated(false)
+    // clear the gyro sensor to remove drift
+    sensors.gyro2.reset()
+    // fall detection timer
+    control.timer2.reset()
+    // timestep computation timer
+    control.timer3.reset()
+    motorAngle = 0
+    motorPosition = 0
+    motorSpeed = 0
+    motorSpeed0 = 0
+    motorSpeed1 = 0
+    motorSpeed2 = 0
+    motorSpeed3 = 0
+    gyroRate = 0
+    gyroAngle = 0
+    fallen = false
+    power = 0
+    controlSteering = 0
+    controlDrive = 0
+    // awake
+    moods.awake.show();
+    gyroAngle = -0.25
+    state = 1;
+}
+// compute set point for motor position and required
+// motor power
+function computePower() {
+    // apply control and compute desired motor position
+    motorPosition -= timestep * controlDrive;
+    // estimate power based on sensor readings and control
+    // values
+    power = 0.8 * gyroRate + 15 * gyroAngle + (0.08 * motorSpeed + 0.12 * motorPosition) - 0.01 * controlDrive
+    // ensure that power stays within -100, 100
+    if (power > 100) {
+        power = 100
+    } else if (power < -100) {
+        power = -100
+    }
+}
+// test if the robot has fallen off
+function checkFallen() {
+    if (Math.abs(power) < 100) {
+        control.timer2.reset()
+    }
+    if (control.timer2.seconds() > 2) {
+        fallen = true
+    }
+}
+// stop all motors and wait for touch button to be
+// pressed
+function stop() {
+    motors.stopAllMotors()
+    state = 0
+    moods.knockedOut.show();
+    sensors.touch3.pauseUntil(TouchSensorEvent.Pressed)
+    moods.neutral.show();
+}
+sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjectNear, function () {
+    moods.dizzy.show()
+    controlSteering = 0
+    oldControlDrive = controlDrive
+    controlDrive = -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) {
+        controlSteering = 70
+    } else {
+        controlSteering = -70
+    }
+    loops.pause(4000)
+    music.playTone(2000, 100)
+    controlSteering = 0
+    controlDrive = oldControlDrive
+    moods.neutral.show()
+})
+// compute the elapsed time since the last iteration
+function computeTimestep() {
+    timestep = control.timer3.seconds()
+    control.timer3.reset()
+}
+sensors.color1.onColorDetected(ColorSensorColor.Green, function () {
+    moods.winking.show()
+    controlDrive = 150
+    controlSteering = 0
+})
+sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {
+    moods.middleRight.show()
+    controlSteering = 70
+})
+// apply power to motors
+function controlMotors() {
+    motors.largeA.setSpeed(power + controlSteering * 0.1)
+    motors.largeD.setSpeed(power - controlSteering * 0.1)
+}
+sensors.color1.onColorDetected(ColorSensorColor.Yellow, function () {
+    moods.middleLeft.show()
+    controlSteering = -70
+})
+sensors.color1.onColorDetected(ColorSensorColor.White, function () {
+    moods.sad.show();
+    controlDrive = -75
+})
+timestep = 0.014
+// main loop
+loops.forever(function () {
+    reset()
+    while (!fallen) {
+        control.timer3.pauseUntil(5)
+        computeTimestep()
+        computeGyro()
+        computeMotors()
+        computePower()
+        controlMotors()
+        checkFallen()
+    }
+    stop()
+})
+```

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);
+})
+```

docs/lessons.md

@@ -0,0 +1,27 @@
+# Lessons
+
+Learning activities for LEGO Mindstorms with MakeCode.
+
+## Motors and motion
+
+```codecard
+[{
+    "name": "Make it Move",
+    "imageUrl":"/static/lessons/make-it-move.jpg",
+    "url": "/lessons/make-it-move",
+    "cardType": "project",
+    "description": "Make a robot that moves itself without wheels."
+}, {
+    "name": "Make it Move TUTORIAL",
+    "imageUrl":"/static/lessons/make-it-move.jpg",
+    "url": "/lessons/make-it-move-tutorial",
+    "cardType": "tutorial",
+    "description": "Make a robot that moves itself without wheels."
+}, {
+    "name": "Line Detection",
+    "imageUrl":"/static/lessons/line-detection.jpg",
+    "url": "/lessons/line-detection",
+    "cardType": "project",
+    "description": "Make your robot drive itself by following lines."
+}]
+```

docs/lessons/line-detection.md

@@ -0,0 +1,266 @@
+# Line Detection
+
+## Objective
+
+Design ways to improve driving safety by helping to prevent drivers from falling asleep and causing an accident.
+ 
+![Car driving on highway](/static/lessons/line-detection/car-driving.jpg)
+
+## Connect
+
+Make sure that you can answer the following questions:
+
+* Can autonomous cars react to different traffic light signals?
+* What can happen if a driver falls asleep while driving?
+* How can we detect when a driver is falling asleep?
+
+Think about what you have learned, then document it. Describe the problem in your own words. Creatively record your ideas and findings.
+
+## Construct
+
+Start by constructing this model. Read the building instructions [here](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-color-sensor-down-driving-base-d30ed30610c3d6647d56e17bc64cf6e2.pdf) first.
+
+![Color sensor on the driving base](/static/lessons/line-detection/color-sensor-driving.jpg)
+
+## Program
+
+Autonomous cars need to recognize and respond to traffic lights automatically.
+First, create a program that will make your robot stop at red lights.
+Make sure your robot is only responding to the color red.
+Once you have succeeded, program your robot to drive forward again when the light changes from red to green.
+
+There are two coding tasks for this lesson:
+
+1. Create a program that will make your robot stop at red lights.
+2. Create a program that drives the robot forward until the Color Sensor sees red. The robot then stops.
+
+## Coding task 1 - Stop at red lights
+
+**Goal:** Create a program that will make your robot stop at red lights.
+
+### Step 1
+
+Create a program that drives the robot forward until the Color Sensor sees red. The robot then stops.
+
+Place a ``||motors:steer large B+C||`` block from ``||motors:Motors||`` under ``||loops:on start||``. Change the speed to 20%.
+
+```blocks 
+motors.largeBC.steer(0, 20)
+```
+
+### Step 2
+
+Place a ``||loops:while||`` loop block under ``||motors:steer large B+C||``.  
+
+```blocks
+motors.largeBC.steer(0, 20)
+while (true) {
+}
+```
+
+### Step 3
+
+Place a ``||sensors:pause for color||`` from ``||sensors:Sensors||`` inside the ``||loops:while||`` loop block. Change the color to red.
+ 
+```blocks
+motors.largeBC.steer(0, 20)
+while (true) {
+    sensors.color3.pauseForColor(ColorSensorColor.Red)
+}
+```
+
+### Step 4
+
+Place a ``||motors:stop all motors||`` block under the ``||sensors:pause for color||`` block.
+
+Study the program...what do you think the program will do?
+
+**Hint:** The motors will run until the Color Sensor senses the color red, then all motors will stop. The motors will run until the sensor reading in the while block is true.
+
+```blocks
+motors.largeBC.steer(0, 20)
+while (true) {
+    sensors.color3.pauseForColor(ColorSensorColor.Red)
+    motors.stopAllMotors()
+}
+```
+
+### Step 5
+
+Click `|Download|` and follow the instructions to get your code onto your EV3 Brick. Press the **center** button on the EV3 Brick to run the program.
+
+## Coding task 2 - Detect light changes
+
+**Goal:** Program your robot to drive forward again when the light changes from red to green.
+
+### Step 1
+
+Place a ``||loops:while||`` loop block under ``||loops:on start||``.
+
+```blocks
+while (true) {
+    
+}
+```
+
+### Step 2
+
+Place a ``||motors:steer large B+C||`` block from ``||motors:Motors||`` inside the ``||loops:while||`` loop block. Change the speed to 20%.
+
+```blocks
+while (true) {
+    motors.largeBC.steer(0, 20)
+}
+```
+ 
+### Step 4
+
+Place a ``||loops:while||`` loop block under the ``||motors:steer large B+C||``  block.
+
+```blocks
+while (true) {
+    motors.largeBC.steer(0, 20)
+    while (true) {
+        
+    }
+}
+```
+
+### Step 5
+
+Place a ``||sensors:pause for color||`` block from ``||sensors:Sensors||`` inside the ``||loops:while||`` loop block. Change the color to red.
+
+```blocks
+while (true) {
+    motors.largeBC.steer(0, 20)
+    while (true) {
+        sensors.color3.pauseForColor(ColorSensorColor.Red)
+    }
+}
+```
+
+### Step 6
+
+Place a ``||motors:stop all motors||`` block under the ``||sensors:pause for color||`` block.  
+
+```blocks
+while (true) {
+    motors.largeBC.steer(0, 20)
+    while (true) {
+        sensors.color3.pauseForColor(ColorSensorColor.Red)
+        motors.stopAllMotors()
+    }
+}
+```
+
+### Step 7
+
+Place a ``||loops:while||`` loop block under the second ``||loops:while||`` loop block.
+
+```blocks
+while (true) {
+    motors.largeBC.steer(0, 20)
+    while (true) {
+        sensors.color3.pauseForColor(ColorSensorColor.Red)
+        motors.stopAllMotors()
+    }
+    while (true) {
+        
+    }
+}
+```
+
+### Step 8
+
+Place a ``||sensors:pause for color||`` block inside the new ``||loops:while||`` loop block. Change the color to red.
+
+What do you think the program will do?
+
+**Hint:** The motors will run until the Color Sensor detects the color red, then it will stop all motors. The motors will also run and not stop when the color sensor detects the color green.
+ 
+```blocks
+while (true) {
+    motors.largeBC.steer(0, 20)
+    while (true) {
+        sensors.color3.pauseForColor(ColorSensorColor.Red)
+        motors.stopAllMotors()
+    }
+    while (true) {
+        sensors.color3.pauseForColor(ColorSensorColor.Red)
+    }
+}
+```
+
+### Step 9
+
+Click `|Download|` and follow the instructions to get your code onto your EV3 Brick. Press the **center** button on the EV3 Brick to run the program.
+ 
+## Contemplate
+
+To simulate what could happen if a driver falls asleep while driving, your robot could sound an alarm signal when it crosses the line. This feature is often available in new cars.
+
+Program your robot to perform this function.
+
+Think about what you have learned, then document it. Describe your pseudocode for this task. Creatively record your ideas, and findings.
+
+### Programming hint
+
+```blocks
+motors.largeBC.steer(0, 20)
+while (true) {
+sensors.color3.pauseForColor(ColorSensorColor.Yellow)
+music.playSoundEffect(sounds.systemGeneralAlert)
+}
+while (true) {
+    while (true) {      sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
+        motors.largeB.setSpeed(10)
+        motors.largeC.setSpeed(-10)
+    }
+    while (true) {
+        sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
+        motors.largeA.setSpeed(-10)
+        motors.largeA.setSpeed(10)
+    }
+}
+```
+
+## Continue
+
+Program your robot to drive on “autopilot” along a given route. You will need to create a program that recognizes and responds to a dark line (or white line). You will create a line-following program and your robot will need to travel along the line without losing contact with it.
+
+You will need to constantly debug your program in order to make your robot travel as smoothly as possible along the line.
+
+### Programming hint
+
+```blocks
+while (true) {
+    while (true) {   sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
+        motors.largeB.setSpeed(10)
+        motors.largeC.setSpeed(-10)
+    }
+    while (true) {
+        sensors.color3.pauseForLight(LightIntensityMode.Reflected, LightCondition.Bright)
+        motors.largeB.setSpeed(-10)
+        motors.largeC.setSpeed(10)
+    }
+}
+```
+
+## Share
+
+Consider the following questions:
+
+1. What challenged you? 
+2. Where there any surprises? 
+3. How could you improve your program?
+4. Could your program have been more streamlined? 
+5. Have you used too many blocks?
+6. Is there a more efficient way of building your program?
+7. How could your program be used in real-world scenarios?
+
+Think about what you have learned, then document it. Creatively record and present your ideas, creations, and findings.
+
+
+
+
+

docs/lessons/make-it-move-tutorial.md

@@ -0,0 +1,72 @@
+# Make It Move Without Wheels 
+
+## Objective @fullscreen
+
+Design, build and program a robot that can move itself:
+
+Your robot will:
+
+* Go a distance of at least 30cm
+* Use at least one motor
+* Use NO wheels for locomotion
+
+![LECG Mindstorms brick with parts](/static/lessons/make-it-move/locomotion-no-wheels.jpg)
+
+
+## Construct @fullscreen
+
+Build a Walker Bot!
+
+The Walker Bot is one example of many possible solutions for making a robot move without wheels.
+
+The Walker Bot combines an EV3 Frame and two legs that are mirror-images to create left and right legs.
+
+The legs in the Walker Bot are designed to show how to change the rotary motion of a motor to reciprocating motion.
+
+Start by reading [these](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/ev3-dep/building%20instructions/walker-bot-bi-180fc24f9298e1dd6201099627d43903.pdf) instructions first.
+ 
+![LEGO Mindstorms Walker Bot](/static/lessons/make-it-move/walker-bot.jpg)
+
+ 
+## Program 1 @fullscreen
+
+In nature, creatures use many methods to get around. None of them, however, use wheels to move. Can we copy the method of animal locomotion with our robot? Using motors and legs, make the robot move without using any wheels.
+
+Place a ``||motors:tank large B+C||`` block from ``||motors:Motors||`` under ``||loops:on start||``.
+
+Change the speed to `-60%` (for motor B) and `+60%` (for motor C).
+Change the rotations to `9`.
+
+The ``||motors:tank large B+C||`` block will run for `9` rotations when the **center** button is pressed on the EV3 brick. The motors are set for the reverse direction because they are mounted upside down in this model.
+
+```blocks
+motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
+```
+
+## Program 2 @fullscreen
+
+Place a ``||motors:stop all motors||`` block under ``||motors:tank large B+C||``.
+
+The ``||motors:tank large B+C||`` block will run for `9` rotations when the **center** button is pressed on the EV3 brick then stop.
+
+```blocks
+motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
+motors.stopAllMotors()
+```
+
+## Program 3 @fullscreen
+
+Place a ``||brick:show string||`` block under ``||motors:stop all motors||``.
+Change the `"Hello World"` text to `"30 cm"`.
+
+The ``||motors:tank large B+C||`` will run for `9` rotations when the **center** button is pressed on the EV3 brick then stop and display "30 cm" on the EV3 Brick’s screen.
+
+```blocks
+motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
+motors.stopAllMotors()
+brick.showString("30 cm", 1)
+```
+
+## Program 4 @fullscreen
+
+Click `|Download|` and follow the instructions to get your code onto your EV3 Brick. Press the **center** button on the EV3 Brick to run the program.

docs/lessons/make-it-move.md

@@ -0,0 +1,73 @@
+# Make It Move Without Wheels 
+
+## Objective
+
+Design, build and program a robot that can move itself:
+
+Your robot will:
+
+* Go a distance of at least 30cm
+* Use at least one motor
+* Use NO wheels for locomotion
+
+![LECG Mindstorms brick with parts](/static/lessons/make-it-move/locomotion-no-wheels.jpg)
+
+## Construct
+
+Build a Walker Bot!
+
+The Walker Bot is one example of many possible solutions for making a robot move without wheels.
+
+The Walker Bot combines an EV3 Frame and two legs that are mirror-images to create left and right legs.
+
+The legs in the Walker Bot are designed to show how to change the rotary motion of a motor to reciprocating motion.
+
+Start by reading [these](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/ev3-dep/building%20instructions/walker-bot-bi-180fc24f9298e1dd6201099627d43903.pdf) instructions first.
+ 
+![LEGO Mindstorms Walker Bot](/static/lessons/make-it-move/walker-bot.jpg)
+
+ 
+## Program
+
+In nature, creatures use many methods to get around. None of them, however, use wheels to move. Can we copy the method of animal locomotion with our robot? Using motors and legs, make the robot move without using any wheels.
+
+### Step 1
+
+Place a ``||motors:tank large B+C||`` block from ``||motors:Motors||`` under ``||loops:on start||``.
+
+Change the speed to `-60%` (for motor B) and `+60%` (for motor C).
+Change the rotations to `9`.
+
+The ``||motors:tank large B+C||`` block will run for `9` rotations when the **center** button is pressed on the EV3 brick. The motors are set for the reverse direction because they are mounted upside down in this model.
+
+```typescript-ignore
+motors.largeBC.tankFor(-60, 60, 9, MoveUnit.Rotations)
+```
+
+### Step 2
+
+Place a ``||motors:stop all motors||`` block under ``||motors:tank large B+C||``.
+
+The ``||motors:tank large B+C||`` block will run for `9` rotations when the **center** button is pressed on the EV3 brick then stop.
+
+```typescript-ignore
+motors.largeBC.tankFor(-60, 60, 9, MoveUnit.Rotations)
+motors.stopAllMotors()
+```
+
+### Step 3
+
+Place a ``||brick:show string||`` block under ``||motors:stop all motors||``.
+Change the `"Hello World"` text to `"30 cm"`.
+
+The ``||motors:tank large B+C||`` will run for `9` rotations when the **center** button is pressed on the EV3 brick then stop and display "30 cm" on the EV3 Brick’s screen.
+
+```typescript-ignore
+motors.largeBC.tankFor(-60, 60, 9, MoveUnit.Rotations)
+motors.stopAllMotors()
+brick.showString("30 cm", 1)
+```
+
+### Step 4
+
+Click `|Download|` and follow the instructions to get your code onto your EV3 Brick. Press the **center** button on the EV3 Brick to run the program.

docs/static/avatar.svg

@@ -0,0 +1,109 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- Generator: Adobe Illustrator 22.0.1, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<svg version="1.1"
+	 id="svg2" inkscape:version="0.91 r13725" sodipodi:docname="avatar.svg" xmlns:cc="http://creativecommons.org/ns#" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape" xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#" xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd" xmlns:svg="http://www.w3.org/2000/svg"
+	 xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px" viewBox="0 0 32 32"
+	 style="enable-background:new 0 0 32 32;" xml:space="preserve">
+<style type="text/css">
+	.st0{fill:#303030;}
+</style>
+<sodipodi:namedview  bordercolor="#666666" borderopacity="1" gridtolerance="10" guidetolerance="10" id="namedview15" inkscape:current-layer="svg2" inkscape:cx="16" inkscape:cy="16" inkscape:pageopacity="0" inkscape:pageshadow="2" inkscape:window-height="661" inkscape:window-maximized="0" inkscape:window-width="997" inkscape:window-x="0" inkscape:window-y="0" inkscape:zoom="5.2149125" objecttolerance="10" pagecolor="#ffffff" showgrid="false">
+	</sodipodi:namedview>
+<g id="avatar_mf" transform="translate(-5304.979 8145.745)">
+	<path id="Path_180" class="st0" d="M5317.1-8125.6c0.2,0,0.3-0.1,0.5-0.1l2.9-0.6c1.3-0.3,2.5-0.5,3.8-0.8c0.5-0.1,1-0.2,1.5-0.3
+		c0.1,0,0.1,0,0.1-0.1c0-0.5,0-1-0.1-1.5c-0.1-0.6-0.2-1.1-0.3-1.7c-0.1-0.4-0.1-0.8-0.2-1.2c-0.1-0.7-0.2-1.4-0.3-2
+		c-0.1-0.6-0.2-1.1-0.3-1.7c0-0.2-0.2-0.4-0.4-0.4c0,0,0,0-0.1,0c-0.2,0-0.5,0.1-0.7,0.1c-0.5,0.1-1,0.1-1.5,0.2
+		c-0.5,0.1-1,0.1-1.6,0.2c-0.5,0.1-1,0.1-1.4,0.2c-0.2,0-0.3,0-0.5,0.1c-0.2,0-0.4,0.2-0.5,0.4c0,0.2-0.1,0.4-0.1,0.5
+		c0,0.4-0.1,0.8-0.1,1.2c-0.1,0.5-0.1,1-0.2,1.5c0,0.4-0.1,0.9-0.1,1.3l-0.1,1.3l-0.1,1.3c-0.1,0.5-0.1,1-0.2,1.5
+		C5317.1-8126,5317.1-8125.8,5317.1-8125.6z"/>
+	<path id="Path_181" class="st0" d="M5316.1-8140c0,0.6,0.1,1.2,0.1,1.8c0,0.4,0.2,0.8,0.6,1c0.3,0.2,0.7,0.3,1.1,0.3
+		c0.7,0.1,1.4,0.1,2.1,0c0.6,0,1.2-0.1,1.8-0.2c0.4,0,0.9-0.2,1.2-0.5c0.3-0.3,0.5-0.7,0.5-1.1c0-1.2,0-2.3-0.1-3.5
+		c0-0.3-0.1-0.6-0.3-0.8c-0.3-0.4-0.8-0.6-1.4-0.6c0,0,0,0-0.1,0c-0.2,0.1-0.4,0.1-0.6,0.1c-0.9,0-1.8,0.1-2.7,0.1
+		c-0.1,0-0.3,0-0.4,0c-0.4-0.1-0.8,0-1.2,0.2c-0.4,0.2-0.6,0.6-0.7,1c0,0.1,0,0.2,0,0.3C5316-8141.2,5316.1-8140.6,5316.1-8140
+		L5316.1-8140z"/>
+	<path id="Path_182" class="st0" d="M5312-8129.2c0,0.6,0,1.2,0,1.8c0,0.1,0,0.1,0.1,0.1c0.3,0,0.6,0.1,0.9,0.1c0.3,0,0.7,0,1,0
+		c0.1,0,0.2,0,0.3,0c0.1,0,0.1,0,0.1-0.1c0.1-0.4,0.2-0.8,0.2-1.2c0.1-0.5,0.2-1,0.3-1.4c0-0.1,0.1-0.1,0.1-0.1
+		c0.4-0.2,0.8-0.5,1.2-0.8c0.4-0.4,0.7-0.9,0.8-1.5c0.1-0.6,0-1.2-0.4-1.7c-0.2-0.3-0.6-0.4-0.9-0.3c-0.3,0.1-0.6,0.3-0.9,0.5
+		c-0.7,0.6-1.5,1.2-2.2,1.8c-0.3,0.2-0.5,0.5-0.6,0.8c0,0.2-0.1,0.4-0.1,0.6C5311.9-8130.2,5311.9-8129.7,5312-8129.2
+		C5311.9-8129.2,5312-8129.2,5312-8129.2z"/>
+	<path id="Path_183" class="st0" d="M5315.5-8124.7c0,0.2-0.1,0.5-0.1,0.7c-0.1,0.5-0.4,0.9-0.8,1.1c0,0,0,0,0,0
+		c-0.1,0-0.2,0.2-0.2,0.3c-0.4,1.4-0.9,2.7-1.3,4.1c0,0,0,0.1,0,0.1c0.8,1.1,1.6,2.2,2.4,3.3c0,0,0,0,0.1,0.1
+		c0.1-0.2,0.1-0.3,0.2-0.5c0.1-0.3,0.2-0.5,0.3-0.8c0,0,0-0.1,0-0.1c-0.2-0.3-0.5-0.7-0.7-1c0,0,0-0.1,0-0.2
+		c0.3-0.9,0.6-1.7,0.9-2.6c0,0,0-0.1,0.1-0.1c0.5-0.2,0.9-0.6,1.1-1.1c0.1-0.3,0.1-0.7,0.1-1.1c0-0.4-0.1-0.8-0.3-1.2
+		c-0.2-0.4-0.5-0.8-1-1C5315.9-8124.7,5315.7-8124.7,5315.5-8124.7z"/>
+	<path id="Path_184" class="st0" d="M5314.7-8134.2c0.1-0.1,0.2-0.1,0.3-0.2c0.3-0.2,0.7-0.3,1-0.3c0.4,0,0.7,0.2,0.8,0.6
+		c0.6,1.1,0.5,2.4-0.4,3.3c-0.4,0.4-0.8,0.7-1.3,1c0,0-0.1,0.1-0.1,0.1c-0.2,0.8-0.3,1.6-0.5,2.5c0,0,0,0.1,0,0.1
+		c0,0.2,0,0.2-0.2,0.2c-0.1,0-0.1,0-0.2,0c0,0.1,0,0.2,0,0.3c0,0,0,0,0.1,0.1l1.9,0.7c0.2,0.1,0.4,0.2,0.7,0.2c0-0.1,0-0.2,0-0.2
+		c0-0.3,0-0.6,0-0.8l0.2-1.5l0.2-1.5c0.1-0.5,0.1-1,0.2-1.5c0.1-0.5,0.1-1.1,0.2-1.6c0.1-0.5,0.1-1,0.2-1.5c0-0.2,0-0.4,0-0.6
+		c0-0.2-0.1-0.4-0.3-0.4c0,0,0,0,0,0c-0.1,0-0.1,0-0.2,0c-0.6-0.1-1.2-0.2-1.9-0.3c-0.1,0-0.2,0-0.3,0c-0.1,0-0.2,0.1-0.3,0.3
+		C5314.8-8135,5314.7-8134.6,5314.7-8134.2z"/>
+	<path id="Path_185" class="st0" d="M5324.5-8117.2c-0.2-0.7-0.5-1.3-0.7-2l-0.7,0.3c0,0-0.1,0-0.1,0c-0.1,0.1-0.2,0-0.2-0.1
+		c-0.1-0.3-0.2-0.5-0.3-0.8c-0.2-0.7-0.5-1.4-0.7-2.1c0,0,0-0.1,0-0.1c0,0,0,0.1-0.1,0.1c-0.1,0.2-0.3,0.3-0.5,0.5c0,0-0.1,0-0.1,0
+		c-0.3,0.1-0.6,0.1-0.8,0.2c0,0-0.1,0-0.1,0c0,0.2-0.1,0.3-0.1,0.5c0.6,1.5,1.1,3.1,1.7,4.6c0,0,0,0,0,0.1
+		C5322.7-8116.3,5323.6-8116.7,5324.5-8117.2z"/>
+	<path id="Path_186" class="st0" d="M5325.4-8123.1c-0.7,0.2-1.3,0.3-2,0.5c-0.5,0.1-0.9,0.2-1.4,0.3c-0.1,0-0.2,0.1-0.1,0.2
+		c0,0,0,0,0,0.1c0.2,0.5,0.3,0.9,0.5,1.4c0.2,0.5,0.4,1.1,0.6,1.6c0,0,0,0,0,0c0.1-0.1,0.2-0.1,0.3-0.2c0.2-0.1,0.3-0.2,0.5-0.2
+		c0.2-0.1,0.4-0.1,0.6-0.2c0.7-0.2,1.5-0.4,2.2-0.6c0,0,0,0,0.1,0C5326.3-8121.1,5325.9-8122.1,5325.4-8123.1z"/>
+	<path id="Path_187" class="st0" d="M5320.7-8124.4c-0.4,0.1-0.8,0.2-1.2,0.3c-0.6,0.1-1.3,0.3-1.9,0.4c0,0-0.1,0-0.1,0
+		c-0.1,0-0.2-0.1-0.3-0.1c0,0,0,0.1,0,0.1c0.3,0.7,0.4,1.5,0.3,2.2c-0.1,0.4-0.3,0.8-0.5,1.1c0,0,0,0-0.1,0.1
+		c0.2-0.1,0.4-0.1,0.6-0.1l2.5-0.6c0.5-0.1,0.9-0.6,1-1.1c0.1-0.5,0-1-0.1-1.5C5320.8-8124,5320.8-8124.2,5320.7-8124.4z"/>
+	<path id="Path_188" class="st0" d="M5325.5-8127c-2.7,0.5-5.3,1.1-7.9,1.6c0,0.5,0,0.9,0.1,1.4c0.1,0,0.2,0,0.3-0.1
+		c1.2-0.3,2.3-0.5,3.5-0.8c1.2-0.3,2.4-0.5,3.6-0.8c0.1,0,0.3-0.1,0.4-0.1c0,0,0.1,0,0.1-0.1
+		C5325.6-8126.2,5325.5-8126.6,5325.5-8127z"/>
+	<path id="Path_189" class="st0" d="M5328.6-8118.4c-0.2-0.4-0.3-0.7-0.5-1.1c-0.1-0.2-0.2-0.5-0.3-0.7c0-0.1,0-0.1-0.1,0
+		c-1.2,0.3-2.4,0.6-3.6,1c0,0,0,0-0.1,0c0.2,0.7,0.5,1.3,0.7,2C5326-8117.6,5327.3-8118,5328.6-8118.4z"/>
+	<path id="Path_190" class="st0" d="M5319.9-8120.9l-0.6,0.1c-1,0.2-2,0.5-3,0.7c-0.1,0-0.1,0.1-0.1,0.1c-0.3,0.7-0.5,1.5-0.8,2.2
+		c0,0,0,0,0,0.1c0.2,0,0.4-0.1,0.5-0.1c1-0.3,2-0.5,3.1-0.8c0.1,0,0.2-0.1,0.3-0.2C5319.5-8119.5,5319.7-8120.2,5319.9-8120.9z"/>
+	<path id="Path_191" class="st0" d="M5325.1-8125.4c-1.1,0.2-2.2,0.5-3.3,0.7c0.3,0.7,0.4,1.4,0.3,2.2c0.2,0,0.4-0.1,0.5-0.1
+		c0.9-0.2,1.8-0.4,2.7-0.6c0.1,0,0.1,0,0.1-0.1c0.1-0.4,0-0.9-0.1-1.3C5325.3-8124.9,5325.2-8125.1,5325.1-8125.4
+		C5325.1-8125.3,5325.1-8125.4,5325.1-8125.4z"/>
+	<path id="Path_192" class="st0" d="M5325.6-8132c0.2,0,0.4,0,0.5,0c0.2,0,0.4,0,0.6,0c0.3,0,0.6-0.2,0.8-0.4c0.3-0.4,0.7-0.8,1-1.2
+		c-0.1-0.1-0.1-0.1-0.1-0.2c0,0,0,0-0.1,0c-0.7-0.1-1.3-0.5-1.4-1.2c-0.1-0.2-0.1-0.4-0.1-0.6c-0.2,0.1-0.3,0.3-0.5,0.4
+		c-0.1,0.1-0.2,0.1-0.3,0.2c0,0-0.1,0.1-0.2,0c-0.2,0-0.5-0.1-0.7-0.1c0,0,0,0-0.1,0C5325.3-8134.1,5325.4-8133.1,5325.6-8132z"/>
+	<path id="Path_193" class="st0" d="M5328.4-8134.2c0.2-0.3,0.5-0.5,0.8-0.7c0.4-0.4,0.6-0.8,0.7-1.4c0-0.1,0-0.2-0.1-0.3
+		c-0.3-0.5-0.7-1.1-1-1.6c0-0.1-0.1-0.1-0.1,0c-0.4,0.2-0.8,0.5-1.1,0.8c-0.2,0.2-0.4,0.4-0.6,0.6c-0.1,0.1-0.1,0.3,0,0.4
+		c0.5,0.7,1,1.5,1.4,2.2C5328.4-8134.2,5328.4-8134.2,5328.4-8134.2z"/>
+	<path id="Path_194" class="st0" d="M5314.3-8126.1c-0.1-0.1-0.1-0.1-0.2-0.2c-0.1,0-0.1-0.1-0.1-0.2c0-0.1,0-0.3,0-0.4h-0.1
+		c-0.6,0-1.2-0.1-1.7-0.2c0,0-0.1,0-0.1,0c-0.4,0.2-0.7,0.4-1,0.8c-0.4,0.6-0.4,1.4,0.1,1.9c0.2,0.2,0.4,0.4,0.6,0.6
+		c0.1,0.1,0.2,0.2,0.3,0.2c-0.2-0.6,0-1.3,0.5-1.8C5313-8125.9,5313.6-8126.2,5314.3-8126.1z"/>
+	<path id="Path_195" class="st0" d="M5315.7-8114.9c0.5-0.1,0.9-0.3,1.4-0.4c0.8-0.2,1.6-0.4,2.4-0.7c0.1,0,0.1,0,0.1-0.1
+		c0.1-0.4,0.2-0.7,0.4-1.1c0,0,0,0,0-0.1c-0.1,0-0.2,0-0.3,0.1c-1.2,0.3-2.3,0.6-3.5,1c-0.1,0-0.1,0.1-0.1,0.1
+		c-0.1,0.4-0.3,0.7-0.4,1.1C5315.7-8115,5315.7-8115,5315.7-8114.9z"/>
+	<path id="Path_196" class="st0" d="M5315.4-8117.4c0.2,0.3,0.4,0.6,0.6,0.9c0,0,0.1,0,0.1,0c1-0.3,1.9-0.5,2.9-0.8
+		c0.3-0.1,0.6-0.2,0.9-0.2c-0.1-0.1-0.1-0.2-0.2-0.2c-0.2-0.2-0.3-0.4-0.5-0.6c0,0-0.1-0.1-0.1,0c-0.9,0.3-1.9,0.5-2.8,0.8
+		C5316-8117.5,5315.7-8117.5,5315.4-8117.4z"/>
+	<path id="Path_197" class="st0" d="M5321.3-8143.6c0-0.3,0-0.7,0-1c0,0-0.1,0-0.1,0c-0.7,0-1.5,0-2.2,0.1c-0.4,0-0.7,0-1.1,0.1
+		c-0.1,0-0.1,0-0.1,0.1c0,0.3,0,0.6,0,0.8c0,0,0,0.1,0.1,0.1c0.4,0,0.8,0,1.1,0c0.5,0,1.1,0,1.6-0.1
+		C5320.9-8143.5,5321.1-8143.6,5321.3-8143.6z"/>
+	<path id="Path_198" class="st0" d="M5329.2-8134.3c0.1,0,0.2,0,0.2-0.1c0.4-0.2,0.8-0.4,1.1-0.7c0.3-0.2,0.4-0.5,0.6-0.8
+		c0.1-0.3,0.1-0.6-0.1-0.9c-0.4-0.5-0.7-1-1.1-1.6c0,0,0,0-0.1-0.1c-0.2,0.2-0.4,0.4-0.6,0.6c0,0,0,0,0,0c0,0,0,0.1,0,0.1
+		c0.2,0.4,0.5,0.7,0.7,1c0.1,0.2,0.2,0.4,0.1,0.6c0,0.5-0.1,0.9-0.4,1.3c-0.1,0.1-0.2,0.2-0.3,0.3
+		C5329.4-8134.5,5329.3-8134.4,5329.2-8134.3C5329.2-8134.3,5329.2-8134.3,5329.2-8134.3z"/>
+	<path id="Path_199" class="st0" d="M5317.5-8136.7c0,0.2,0,0.3,0,0.5c0,0,0,0.1,0.1,0.1c0.2,0,0.3,0.1,0.5,0.1c0.7,0.1,1.4,0.1,2,0
+		c0.4,0,0.8-0.1,1.2-0.1c0.2,0,0.5-0.1,0.7-0.1c0.1,0,0.1,0,0.1-0.1c0-0.2,0-0.3,0-0.5C5320.5-8136.6,5319-8136.5,5317.5-8136.7z"/>
+	<path id="Path_200" class="st0" d="M5312.5-8123.2c0.1-0.4,0.1-0.8,0.2-1.2c0.1-0.6,0.6-1,1.2-1c0.3,0,0.5,0.1,0.7,0.3
+		c0.2,0.2,0.2,0.4,0.2,0.7c-0.1,0.3-0.2,0.6-0.2,0.9c0,0.1-0.1,0.2-0.1,0.4c0,0,0,0,0,0c0.1-0.1,0.2-0.2,0.3-0.3
+		c0.3-0.4,0.4-0.9,0.4-1.4c0-0.6-0.4-1-0.9-1.1c-0.1,0-0.1,0-0.2,0c-0.5,0-1,0.3-1.4,0.7c-0.3,0.3-0.4,0.6-0.5,1
+		c-0.1,0.3,0,0.7,0.2,1C5312.5-8123.2,5312.5-8123.2,5312.5-8123.2z"/>
+	<path id="Path_201" class="st0" d="M5314.3-8123.2c0.1-0.5,0.3-0.9,0.4-1.4c0.1-0.2,0-0.4-0.2-0.5c-0.4-0.2-0.9-0.1-1.2,0.2
+		c0,0,0,0,0,0.1c0,0.2,0,0.4,0.1,0.6c0,0.1,0.1,0.2,0.2,0.3C5313.7-8123.6,5314-8123.4,5314.3-8123.2
+		C5314.2-8123.2,5314.3-8123.2,5314.3-8123.2z"/>
+	<path id="Path_202" class="st0" d="M5317.4-8124.1c0-0.4,0-0.9-0.1-1.3c-0.1,0-0.1,0-0.2,0c-0.1,0-0.2,0-0.3,0
+		c-0.7-0.3-1.4-0.5-2.1-0.8c0,0,0,0,0,0c0.1,0.1,0.1,0.1,0.2,0.2c0.3,0.2,0.5,0.6,0.6,0.9c0,0,0,0,0,0c0.1,0,0.3,0,0.4,0.1
+		c0.3,0.1,0.6,0.3,0.9,0.5c0,0,0.1,0.1,0.1,0.1C5317.1-8124.2,5317.2-8124.1,5317.4-8124.1z"/>
+	<path id="Path_203" class="st0" d="M5321.6-8124.6c-0.2,0-0.4,0.1-0.6,0.1c0.1,0.2,0.1,0.4,0.2,0.6c0.1,0.4,0.2,0.8,0.1,1.2
+		c0,0.5-0.1,0.9-0.4,1.3c0,0,0,0,0,0c0.3,0,0.6-0.2,0.7-0.5c0.2-0.3,0.3-0.6,0.3-0.9C5321.9-8123.4,5321.8-8124,5321.6-8124.6z"/>
+	<path id="Path_204" class="st0" d="M5315.7-8135.8c0.2,0,0.3,0.1,0.5,0.1c0.5,0.1,1,0.2,1.5,0.2c0.2,0,0.5,0,0.7,0
+		c0.7-0.1,1.4-0.2,2.1-0.2c0.6-0.1,1.2-0.2,1.8-0.2c0.5-0.1,1.1-0.1,1.6-0.2l-1.5-0.2c0,0,0,0,0,0c0,0.2-0.1,0.3-0.2,0.3
+		c0,0,0,0,0,0c-0.3,0.1-0.5,0.1-0.8,0.2c-0.8,0.1-1.6,0.1-2.3,0.1c-0.4,0-0.9,0-1.3-0.1c-0.1,0-0.2-0.1-0.3-0.2c0,0-0.1,0-0.1,0
+		c-0.3,0-0.6,0.1-0.9,0.1L5315.7-8135.8L5315.7-8135.8z"/>
+	<path id="Path_205" class="st0" d="M5327.3-8117.7c-0.3,0.1-0.5,0.2-0.8,0.2c-0.6,0.2-1.1,0.3-1.7,0.5c0,0-0.1,0-0.1,0.1
+		c-0.5,0.2-1,0.5-1.5,0.7c0,0,0,0,0,0c0.3-0.1,0.5-0.1,0.8-0.2c0.5-0.2,1.1-0.3,1.6-0.5c0.1,0,0.2-0.1,0.2-0.1
+		C5326.2-8117.2,5326.8-8117.5,5327.3-8117.7C5327.3-8117.7,5327.3-8117.7,5327.3-8117.7C5327.3-8117.7,5327.3-8117.7,5327.3-8117.7
+		z"/>
+	<path id="Path_206" class="st0" d="M5327-8135.8c0,0.1,0,0.2,0,0.4c0.1,0.5,0.3,0.9,0.7,1.1c0.1,0.1,0.3,0.1,0.4,0.2l0,0
+		C5327.8-8134.7,5327.4-8135.2,5327-8135.8L5327-8135.8z"/>
+	<path id="Path_207" class="st0" d="M5329-8134.4c-0.1,0.1-0.2,0.2-0.3,0.4c0,0,0,0,0,0.1c0,0.1,0,0.1,0.1,0.1c0.1,0,0.2,0,0.3-0.1
+		c0.1,0,0.2-0.1,0.3-0.1c-0.1,0-0.1-0.1-0.2-0.1C5329-8134.2,5329-8134.3,5329-8134.4z"/>
+</g>
+</svg>

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

@@ -0,0 +1,25 @@
+{
+  "automation": "Automation, process control and robotic controllers\n\nProcess control, automation, robotics AI",
+  "automation.Behavior": "A behavior",
+  "automation.Behavior.update": "Called on each behavior iteration even for suppresed behaviors",
+  "automation.Behavior.update|param|elapsed": "milli seconds since last call",
+  "automation.BehaviorManager": "A manager for behaviors",
+  "automation.BehaviorManager.add": "Adds a new behavior to the behavior manager",
+  "automation.BehaviorManager.add|param|behavior": "the behavior to add",
+  "automation.BehaviorManager.start": "Starts the behavior control loop",
+  "automation.BehaviorManager.stop": "Stops the execution loop",
+  "automation.PIDController.compute": "Computes the output based on the system state",
+  "automation.PIDController.setControlSaturation": "Sets the control saturation values",
+  "automation.PIDController.setControlSaturation|param|high": "highest control value, eg: 100",
+  "automation.PIDController.setControlSaturation|param|low": "lowest control value, eg: -100",
+  "automation.PIDController.setDerivativeFilter": "Sets the derivative filter gain",
+  "automation.PIDController.setDerivativeFilter|param|N": "the filter gain, eg:10",
+  "automation.PIDController.setGains": "Sets the PID gains",
+  "automation.PIDController.setGains|param|b": "setpoint weight, eg: 0.9",
+  "automation.PIDController.setGains|param|kd": "derivative gain",
+  "automation.PIDController.setGains|param|ki": "integral gain",
+  "automation.PIDController.setGains|param|kp": "proportional gain",
+  "automation.PIDController.setPoint": "Updates the desired setpoint",
+  "automation.addBehavior": "Adds the behavior and starts it",
+  "automation.addBehavior|param|behavior": "a behavior"
+}

libs/automation/_locales/automation-strings.json

@@ -0,0 +1,12 @@
+{
+  "automation.PIDController.compute|block": "%pid|compute for timestep %timestep|(s) at state %y",
+  "automation.PIDController.setControlSaturation|block": "set %pid|control saturation from %low|to %high",
+  "automation.PIDController.setDerivativeFilter|block": "set %pid|derivative filter %N",
+  "automation.PIDController.setGains|block": "set %pid|gains kp %kp|ki %ki|kd %kd",
+  "automation.PIDController.setPoint|block": "set %pid|point to %ysp",
+  "automation.addBehavior|block": "add behavior %behavior",
+  "automation|block": "automation",
+  "{id:category}Automation": "Automation",
+  "{id:group}Behaviors": "Behaviors",
+  "{id:group}PID": "PID"
+}

libs/automation/pxt.json

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

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

@@ -1,14 +0,0 @@
-{
-  "behaviors": "Behavior drive blocks",
-  "behaviors.Behavior": "A behavior",
-  "behaviors.BehaviorManager": "A manager for behaviors",
-  "behaviors.BehaviorManager.add": "Adds a new behavior to the behavior manager",
-  "behaviors.BehaviorManager.add|param|behavior": "the behavior to add",
-  "behaviors.BehaviorManager.start": "Starts the behavior control loop",
-  "behaviors.BehaviorManager.stop": "Stops the execution loop",
-  "behaviors.addBehavior": "Adds the behavior and starts it",
-  "behaviors.addBehavior|param|behavior": "a behavior",
-  "behaviors.avoidCrash": "A behavior that stops all motors if the sensor distance get too short",
-  "behaviors.driveForward": "A behavior that turns on the motors to the specified speed",
-  "behaviors.driveForward|param|motors": "@param speed the desired speed, eg: 50"
-}

libs/behaviors/_locales/behaviors-strings.json

@@ -1,7 +0,0 @@
-{
-  "behaviors.addBehavior|block": "add behavior %behavior",
-  "behaviors.avoidCrash|block": "avoid crash using %ultrasonic",
-  "behaviors.driveForward|block": "drive %motors|forward at %speed=motorSpeedPicker|%",
-  "behaviors|block": "behaviors",
-  "{id:category}Behaviors": "Behaviors"
-}

libs/behaviors/targetoverrides.ts

@@ -1,56 +0,0 @@
-namespace behaviors {
-    class AvoidCrashBehavior extends behaviors.Behavior {
-        private ultrasonic: sensors.UltraSonicSensor;
-        constructor(ultrasonic: sensors.UltraSonicSensor) {
-            super();
-            this.ultrasonic = ultrasonic;
-        }
-
-        shouldRun(): boolean {
-            return this.ultrasonic.distance() < 5;
-        }
-
-        run(): void {
-            motors.stopAllMotors();
-            this.active = false;
-        }
-    }
-
-    /**
-     * A behavior that stops all motors if the sensor distance get too short
-     */
-    //% blockId=behaviorsAvoidCrash block="avoid crash using %ultrasonic"
-    export function avoidCrash(ultrasonic: sensors.UltraSonicSensor) : behaviors.Behavior {
-        return new AvoidCrashBehavior(ultrasonic);
-    }
-
-    class DriveForwardBehavior extends behaviors.Behavior {
-        private motors: motors.MotorBase;
-        private speed: number;
-        constructor(motors: motors.MotorBase, speed: number) {
-            super();
-            this.motors = motors;
-            this.speed = speed;
-        }
-
-        shouldRun(): boolean { 
-            return true;
-        }
-
-        run(): void {
-            this.motors.setSpeed(this.speed);
-            pauseUntil(() => !this.active);
-            this.motors.setSpeed(0);
-        }
-    }
-
-    /**
-     * A behavior that turns on the motors to the specified speed
-     * @param motors 
-     * @param speed the desired speed, eg: 50
-     */
-    //% blockId=behaviorsDriveForward block="drive %motors|forward at %speed=motorSpeedPicker|%"
-    export function driveForward(motors: motors.MotorBase, speed: number): behaviors.Behavior {
-        return new DriveForwardBehavior(motors, speed);
-    }
-}

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

@@ -13,7 +13,8 @@
         "color-sensor": "file:../color-sensor",
         "touch-sensor": "file:../touch-sensor",
         "ultrasonic-sensor": "file:../ultrasonic-sensor",
-        "gyro-sensor": "file:../gyro-sensor"
+        "gyro-sensor": "file:../gyro-sensor",
+        "mood": "file:../mood"
     },
     "public": true
 }

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 +1,17 @@
+{
+  "brick.Mood": "A mood",
+  "brick.Mood.show": "Shows the mood on the EV3",
+  "brick.showMood": "Shows a mood",
+  "moods.angry": "An angry mood",
+  "moods.awake": "A awake mood",
+  "moods.dizzy": "A dizzy mood",
+  "moods.knockedOut": "A knocked out mood",
+  "moods.love": "In love mood",
+  "moods.middleLeft": "Looking around left",
+  "moods.middleRight": "Looking around right",
+  "moods.neutral": "In a neutral mood",
+  "moods.sad": "A sad mood",
+  "moods.sleeping": "A sleeping mood",
+  "moods.tired": "A tired mood",
+  "moods.winking": "In laughing mood"
+}

libs/mood/_locales/mood-strings.json

@@ -0,0 +1,8 @@
+{
+  "brick.showMood|block": "show mood %mood=mood_image_picker",
+  "brick|block": "brick",
+  "moods|block": "moods",
+  "{id:category}Brick": "Brick",
+  "{id:category}Moods": "Moods",
+  "{id:group}Screen": "Screen"
+}

libs/mood/mood.ts

@@ -0,0 +1,125 @@
+namespace brick {
+    /**
+     * Shows a mood
+     */
+    //% weight=90
+    //% blockId=moodShow block="show mood %mood=mood_image_picker"
+    //% weight=101 group="Screen" blockGap=8
+    export function showMood(mood: Mood) {
+        if(mood)
+            mood.show();
+    }
+
+    /**
+     * A mood
+     */
+    //% fixedInstances
+    export class Mood {
+        private image: Image;
+        private sound: Sound;
+        private light: BrickLight;
+
+        constructor(image: Image, sound: Sound, light: BrickLight) {
+            this.image = image;
+            this.sound = sound;
+            this.light = light;
+        }
+
+        /**
+         * Shows the mood on the EV3
+         */
+        show() {
+            brick.setLight(this.light);
+            brick.showImage(this.image);
+            music.playSoundEffectUntilDone(this.sound);
+            loops.pause(20);
+        }
+    }
+
+    /**
+     * 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;
+    }
+}
+
+namespace moods {
+    /**
+     * A sleeping mood
+     */
+    //% fixedInstance jres=images.eyesSleeping
+    export const sleeping = new brick.Mood(images.eyesSleeping, sounds.expressionsSnoring, BrickLight.OrangePulse);
+
+    /**
+     * A awake mood
+     */
+    //% fixedInstance jres=images.eyesAwake
+    export const awake = new brick.Mood(images.eyesAwake, sounds.informationActivate, BrickLight.Orange);
+
+    /**
+     * A tired mood
+     */
+    //% fixedInstance jres=images.eyesTiredMiddle
+    export const tired = new brick.Mood(images.eyesTiredMiddle, sounds.expressionsSneezing, BrickLight.OrangeFlash);
+
+    /**
+     * An angry mood
+     */
+    //% fixedInstance jres=images.eyesAngry
+    export const angry = new brick.Mood(images.eyesAngry, sounds.animalsDogGrowl, BrickLight.RedPulse);
+
+    /**
+     * A sad mood
+     */
+    //% fixedInstance jres=images.eyesTear
+    export const sad = new brick.Mood(images.eyesTear, sounds.animalsDogWhine, BrickLight.Red);
+
+    /**
+     * A dizzy mood
+     */
+    //% fixedInstance jres=images.eyesDizzy
+    export const dizzy = new brick.Mood(images.eyesDizzy, sounds.expressionsUhOh, BrickLight.OrangeFlash);
+
+    /**
+     * A knocked out mood
+     */
+    //% fixedInstance jres=images.eyesKnockedOut
+    export const knockedOut = new brick.Mood(images.eyesKnockedOut, sounds.informationError, BrickLight.RedFlash);
+
+    /**
+     * Looking around left
+     */
+    //% fixedInstance jres=images.eyesMiddleLeft
+    export const middleLeft = new brick.Mood(images.eyesMiddleLeft, sounds.informationAnalyze, BrickLight.Off);
+
+    /**
+     * Looking around right
+     */
+    //% fixedInstance jres=images.eyesMiddleRight
+    export const middleRight = new brick.Mood(images.eyesMiddleRight, sounds.informationAnalyze, BrickLight.Off);
+
+    /**
+     * In love mood
+     */
+    //% fixedInstance jres=images.eyesLove
+    export const love = new brick.Mood(images.eyesLove, sounds.expressionsMagicWand, BrickLight.GreenPulse);
+
+    /**
+     * In laughing mood
+     */
+    //% fixedInstance jres=images.eyesWinking
+    export const winking = new brick.Mood(images.eyesWinking, sounds.expressionsLaughing1, BrickLight.GreenFlash);
+
+    /**
+     * In a neutral mood
+     */
+    //% fixedInstance jres=images.eyesNeutral
+    export const neutral = new brick.Mood(images.eyesNeutral, undefined, BrickLight.Green);
+}

libs/mood/pxt.json

@@ -0,0 +1,15 @@
+{
+    "name": "mood",
+    "description": "The EV3 mood library",
+    "files": [
+        "README.md",
+        "mood.ts"
+    ],
+    "testFiles": [
+    ],
+    "public": true,
+    "dependencies": {
+        "core": "file:../core",
+        "music": "file:../music"
+    }
+}

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

@@ -23,7 +23,7 @@
   "music.setTempo": "Set the tempo a number of beats per minute (bpm).",
   "music.setTempo|param|bpm": "The new tempo in beats per minute, eg: 120",
   "music.setVolume": "Set the output volume of the sound synthesizer.",
-  "music.setVolume|param|volume": "the volume 0...256, eg: 128",
+  "music.setVolume|param|volume": "the volume 0...100, eg: 50",
   "music.stopAllSounds": "Play a tone through the speaker for some amount of time.",
   "music.tempo": "Return the tempo in beats per minute (bpm).\nTempo is the speed (bpm = beats per minute) at which notes play. The larger the tempo value, the faster the notes will play."
 }

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/music.cpp

@@ -13,7 +13,7 @@
 
 namespace music {
 
-uint8_t currVolume = 2;
+uint8_t currVolume = 50;
 uint8_t *lmsSoundMMap;
 
 int writeDev(void *data, int size) {
@@ -25,16 +25,16 @@ int writeDev(void *data, int size) {
 
 /**
 * Set the output volume of the sound synthesizer.
-* @param volume the volume 0...256, eg: 128
+* @param volume the volume 0...100, eg: 50
 */
 //% weight=96
 //% blockId=synth_set_volume block="set volume %volume"
 //% parts="speaker" blockGap=8
-//% volume.min=0 volume.max=256
+//% volume.min=0 volume.max=100
 //% help=music/set-volume
 //% weight=1
 void setVolume(int volume) {
-    currVolume = max(0, min(100, volume * 100 / 256));
+    currVolume = max(0, min(100, volume));
 }
 
 #define SOUND_CMD_BREAK 0

libs/music/shims.d.ts

@@ -3,12 +3,12 @@ declare namespace music {
 
     /**
      * Set the output volume of the sound synthesizer.
-     * @param volume the volume 0...256, eg: 128
+     * @param volume the volume 0...100, eg: 50
      */
     //% weight=96
     //% blockId=synth_set_volume block="set volume %volume"
     //% parts="speaker" blockGap=8
-    //% volume.min=0 volume.max=256
+    //% volume.min=0 volume.max=100
     //% help=music/set-volume
     //% weight=1 shim=music::setVolume
     function setVolume(volume: int32): void;

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": "0.0.70",
   "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": "0.15.7",
+    "pxt-core": "3.0.11"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

pxtarget.json

@@ -16,9 +16,12 @@
         "libs/infrared-sensor",
         "libs/gyro-sensor",
         "libs/chassis",
+        "libs/mood",
         "libs/ev3",
+        "libs/storage",
+        "libs/datalog",
         "libs/tests",
-        "libs/behaviors"
+        "libs/automation"
     ],
     "simulator": {
         "autoRun": true,

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"/>
-    </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"/>
-          <g>
-            <image width="36" height="20" transform="translate(9 136)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACUAAAAVCAYAAADB5CeuAAAACXBIWXMAAAsSAAALEgHS3X78AAAAp0lEQVRIS+3WsW3DMBBG4Y+GSmcGp/cAHsuzeIasFPdWVpD6c0FKcBWwOxV8wIEgSIAPvOL+EhFKKcUBiIiAgjO+25rJildErJMqdMdVlcwg8MQDv5P6Q1fc5ErRujW1TfmoLPa3T//dymJI9TKkehlSvQypXoZUL5vUNhAz2R1Oao75w9IOMmpRHVZqSpjxo3KRw+YwQ2lx+EsVykqfK+aIWGhSR+MNDy9ID5XUCOsAAAAASUVORK5CYII=" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-            <path id="LM_back1-2" data-name="LM back1-2" d="M41.86,152.17H10.53a.6.6,0,0,1-.6-.6v-14.7a.6.6,0,0,1,.6-.6H41.86a.6.6,0,0,1,.6.6h0v14.7A.6.6,0,0,1,41.86,152.17Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
-          </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"/>
-            <circle id="LM_rightside4" data-name="LM rightside4" cx="28.3" cy="66.21" r="3.79" style="fill: #fff"/>
-            <circle id="LM_rightside3" data-name="LM rightside3" cx="28.3" cy="43" r="3.79" style="fill: #fff"/>
-            <path id="LM_rightside2" data-name="LM rightside2" d="M24.4,59.69A4.16,4.16,0,0,1,26.74,59a5.23,5.23,0,0,1,3,.71c1.25.93,1.23-.1,1.23-.1v-1.8c0-.45-.56-.85-1.23-.46l-1,.58s-.36.19-.36-.33V55s0-.79.73-.77,1.38,0,1.38,0,.29-.25.29-1.39-.29-1.32-.29-1.32H29.1s-.73,0-.73-.65v-1.3s-.23-.36-1.17-.3a3.56,3.56,0,0,0-1.4.3v1.3a.66.66,0,0,1-.66.65c-.63,0-1.26,0-1.26,0s-.25.19-.29,1.32.29,1.39.29,1.39h1.26s.8.05.82.77,0,2.62,0,2.62,0,.51-.34.33l-1.21-.58s-.83-.41-.82.46,0,1.8,0,1.8S23.67,60.12,24.4,59.69Z" transform="translate(0.98 1.9)" style="fill: #fff"/>
-            <path id="LM_rightside1" data-name="LM rightside1" d="M31.25,47.89a.84.84,0,0,1-1,.68.85.85,0,0,1-.24-.09,6.63,6.63,0,0,0-2.85-.77,5.11,5.11,0,0,0-2.77.77c-.83.4-1.07-.59-1.07-.59V46.13a.72.72,0,0,1,.76-.66.67.67,0,0,1,.31.1,5.79,5.79,0,0,0,2.77.84,7.12,7.12,0,0,0,2.85-.84s1.18-.24,1.2.56S31.25,47.89,31.25,47.89Z" transform="translate(0.98 1.9)" style="fill: #fff"/>
-          </g>
-          <g>
-            <image width="36" height="76" transform="translate(32 12)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACUAAABNCAYAAAAhOa00AAAACXBIWXMAAAsSAAALEgHS3X78AAACAElEQVRoQ+3avVHDMBiA4VdcypgREmo4RggLpKKHAZiIAWgoKZggrEAGCBsQpxeFpNgJ/vkkK5YLvXe6g2Cb53zE9oVPaa3xSSmlALTvjh4pn2MrpQpgab/dAYdL4MQoC3oAnuxLH8AW2Gmty9YdAxKhaqAXYAUozJnaAm/AJiZs1rfBGegBKOyP7oAFMLfbRYN1ojpAYM7WtX3dbR8F1orqAdVz27n9BsMaUR4gV1yY1vpkYX7BGvgE9oD2WL/AO3CPfROFrKs6MOAMnVcAt3b57lsV6QzV194eYw0UfWelacUGRYFdAjQYNsPcy54xV+rwv4P/Bb8jZ5gr8oK4IFcQzF2nVOdWw/KG9d77IuUFGwsFHrAxUSCEjY0CASwFCnpgqVDQAUuJghZYahQY2Ao4YJ77v08eXRJWUHvenwoKaneVKaGOZZS0jJKWUdIySlpGScsoaRklLaOkZZS0jJKWUdIySlpGScsoaRklLaOkTQml3RdTQZXAD+bD2EmgSuALMwmyg/SoEtgAr9RGU1KiGkGQDtUKgjSoThCMj+oFwbgoEQjGQ4lBMA7KCwSXR3mDoPonpBsFccWYUwgCgUEdMAN/YDBzzKjJvG0nQe7W4Q2CCnFDhVgCj1TznCHtGDDVqLTWxylXW4wzdWDA/GfjnOcZMijddGBhouHTsfsDst/cEY24RzwAAAAASUVORK5CYII=" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-            <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"/>
-          </g>
-          <g>
-            <image width="25" height="27" transform="translate(32 69)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABoAAAAcCAYAAAB/E6/TAAAACXBIWXMAAAsSAAALEgHS3X78AAABYUlEQVRIS+2WvVXDMBRG7/NxGVf0CRVFchghWSAVA2QAxmEGGgZgguzgHlPTELv/KCSD/BMs2wkV9xwf2/LPlZ70JJkk2piZdQojUd8PAWuXm1kGrIBF3wcDVEAhqWw/aIi8ZAcccLKxFMAzcGzL0voikDwCWyBjPGt8JMysKfMtMuAeeAE+Ac04TsArsAcySUj6blGGq82aaS0JyXARqYDCzHJJSnzItrh+ucW1bi4ZsCQYUAmu0w9M75dzNCqc4KxLLivpkPjzJcL1Kwl/xL9oMnXC1lkdw6SBk+IyOPf3Qz9Z8DOzD73bIAXegCfiloUV8ABs/HV07qWSKjPLiSP3xwY3m+yIlKVwflXsofSVeseFHCJlKSPxlTqZ2TEoHpSNFtVIKsfIJotgnGyWCHplW3pG8GwRdGQVbqXu35zMJZAVONEdgayzr5uL33wugBvgQ1IFVxDVmJmF+Xk1UZsvIeCPQjWq5BoAAAAASUVORK5CYII=" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-            <path id="LM_level3-2" data-name="LM level3-2" d="M54,92V74.7a2.19,2.19,0,0,0-.3-1.12c-.28-.27-3.52-3.62-3.52-3.62a1.55,1.55,0,0,0-1.16-.4c-.75,0-11.62,0-11.62,0L33,74.26v8l10.66.57Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
-          </g>
-          <g id="LM_leftside" data-name="LM leftside">
-            <path id="LM_leftside5" data-name="LM leftside5" d="M60.08,126.64H54.47A5.45,5.45,0,0,1,49,121.18h0V98.28a5.46,5.46,0,0,1,5.46-5.46h5.61a5.47,5.47,0,0,1,5.46,5.46v22.9A5.45,5.45,0,0,1,60.08,126.64Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
-            <circle id="LM_leftside4" data-name="LM leftside4" cx="61.67" cy="123.24" r="3.79" style="fill: #fff"/>
-            <circle id="LM_leftside3" data-name="LM leftside3" cx="61.67" cy="100.03" r="3.79" style="fill: #fff"/>
-            <path id="LM_leftside2" data-name="LM leftside2" d="M57.77,116.72a4.15,4.15,0,0,1,2.34-.7,5.14,5.14,0,0,1,3,.7c1.25.93,1.23-.1,1.23-.1v-1.8c0-.45-.56-.84-1.23-.46l-1,.58s-.36.19-.36-.33V112s0-.79.73-.77,1.38,0,1.38,0,.29-.25.29-1.38-.29-1.33-.29-1.33H62.47s-.73,0-.73-.64v-1.3s-.23-.36-1.17-.31a3.57,3.57,0,0,0-1.4.31v1.3a.66.66,0,0,1-.66.64H57.25s-.25.2-.29,1.33.29,1.38.29,1.38h1.26s.8,0,.82.77,0,2.62,0,2.62,0,.51-.34.33l-1.21-.58s-.83-.4-.82.46,0,1.8,0,1.8S57,117.16,57.77,116.72Z" transform="translate(0.98 1.9)" style="fill: #fff"/>
-            <path id="LM_leftside1" data-name="LM leftside1" d="M64.62,104.92a.83.83,0,0,1-1,.68.68.68,0,0,1-.24-.08,6.46,6.46,0,0,0-2.85-.77,5,5,0,0,0-2.77.77c-.83.4-1.07-.6-1.07-.6v-1.76a.71.71,0,0,1,.76-.65.8.8,0,0,1,.31.09,5.79,5.79,0,0,0,2.77.84,7,7,0,0,0,2.85-.84s1.18-.24,1.2.56S64.62,104.92,64.62,104.92Z" transform="translate(0.98 1.9)" style="fill: #fff"/>
-          </g>
-          <g>
-            <image width="58" height="64" transform="translate(0 81)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADsAAABBCAYAAABvnNwUAAAACXBIWXMAAAsSAAALEgHS3X78AAACFElEQVRoQ+2bQY7TMBSGvxcqsaFbJDbDrEEcYeYCcwYOwIlYsWLDjg0nGG6A1ANkbgCNhGb1WNgBpxPbaUjT+smf5E3lxPlq/25S5YmqshQiIrk+S6EzLlxmHDOKiGyB18CLXN8F6IAW6I6RXkTWi94C73HCp6YFvgI7oFXVfaY/sIBsIPoBuAG26SMWoZ/ZHfAZuJ8ivMl1SHEgess6ouDGeQtc4WMjInlhVZ3VcAPeAd+AX4Ceqf0EvgDv8Cs11hpm4Hfda1xG11q6MbbAG9+S1zFLliMGWIHBF++jNcrRmfUnu8Gd/Bo32Lnp9w4gnt+jZM+4IU0hKzxZ9sJyGiMpPFmWy8ppiqjwJNkLzWmK/no7oBWRnapqdje+8Jym2BLcdEDmp6eQnKYYrMDczJaS00lEZQvMaZZR2YJzmuSJrIGcRhmbWVM5DRnIWsxpyF9ZqzkNacB2TkP6mTWb05DGek5DGtxfn6aXb0+Du1G+wrgo/Mus2aUbknsQMEWVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUovq8le5TLwanBvbj4A2VKRwtjjvLr+g2fAb1wFxUvgFfB89NCy2APfgU/AD1V9BNio6l5E7oOOpb9u0It+5KC4aQNwINyxTonZqWiJVHENytNk3eLBU9ERqc97UovnXwArGj2U8vx34WFJ/AG0vvY6LSeZMAAAAABJRU5ErkJggg==" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-            <path id="LM_level2_grey-2" data-name="LM level2 grey-2" d="M49,140.61H6.31a5.78,5.78,0,0,1-5.78-5.78h0V105.19C10.89,91.13,18.65,81.32,18.65,81.32h.6s19.46.15,23.86.15a2.29,2.29,0,0,1,2.38,1L54.75,92v42.8A5.78,5.78,0,0,1,49,140.61Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
-          </g>
-          <g id="LM_total" data-name="LM total">
-            <g id="LM_whitepart" data-name="LM whitepart">
-              <g style="clip-path: url(#clip-path-2)">
-                <g id="LM_whitepart_combined" data-name="LM whitepart combined">
-                  <path id="LM_whitepart_top" data-name="LM whitepart top" d="M43.48,141l-7.15-7.37L12.54,102.56V87.7L-.52,103.84v31.22l1,7.69Z" transform="translate(0.98 1.9)" style="fill: #f1f1f1"/>
+<?xml version="1.0" encoding="UTF-8"?>
+<svg width="82px" height="156px" viewBox="0 0 82 156" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
+    <!-- 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)">
+            <path d="M39.98,155.52 L13.67,155.52 C13.3386292,155.52 13.07,155.251371 13.07,154.92 L13.07,149.62 C13.07,149.288629 13.3386292,149.02 13.67,149.02 L39.98,149.02 C40.3113708,149.02 40.58,149.288629 40.58,149.62 L40.58,154.9 C40.5854219,155.062566 40.5246096,155.220368 40.4114947,155.337253 C40.2983799,155.454138 40.1426565,155.52009 39.98,155.52 Z" id="LM_back2" fill="#A8AAA8" fill-rule="nonzero"></path>
+            <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>
+                <path d="M33.84,18.07 L2.51,18.07 C2.17862915,18.07 1.91,17.8013708 1.91,17.47 L1.91,2.77 C1.91,2.43862915 2.17862915,2.17 2.51,2.17 L33.84,2.17 C34.1713708,2.17 34.44,2.43862915 34.44,2.77 L34.44,17.47 C34.44,17.8013708 34.1713708,18.07 33.84,18.07 Z" id="LM_back1-2" fill="#A8AAA8" fill-rule="nonzero"></path>
+            </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>
+                <path d="M22.9800421,24.9 L22.98,7.6 C22.9824406,7.20649401 22.8788083,6.81960003 22.68,6.48 C22.4,6.21 19.16,2.86 19.16,2.86 C18.8448174,2.57277854 18.4252272,2.42809227 18,2.46 C17.25,2.46 6.38,2.46 6.38,2.46 L1.98,7.16 L1.98,15.16 L12.64,15.73 L22.9800421,24.9 Z" id="LM_level3-2" fill="#A8AAA8" fill-rule="nonzero"></path>
+            </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>
+                <path d="M9.75,24.62 C10.4421225,24.1572205 11.2574415,23.9133217 12.09,23.92 C13.1380484,23.8411302 14.1850856,24.0854388 15.09,24.62 C16.34,25.55 16.32,24.52 16.32,24.52 L16.32,22.72 C16.32,22.27 15.76,21.88 15.09,22.26 L14.09,22.84 C14.09,22.84 13.73,23.03 13.73,22.51 L13.73,19.9 C13.73,19.9 13.73,19.11 14.46,19.13 C15.19,19.15 15.84,19.13 15.84,19.13 C15.84,19.13 16.13,18.88 16.13,17.75 C16.13,16.62 15.84,16.42 15.84,16.42 L14.45,16.42 C14.45,16.42 13.72,16.42 13.72,15.78 L13.72,14.48 C13.72,14.48 13.49,14.12 12.55,14.17 C12.0671703,14.1775857 11.5908982,14.283046 11.15,14.48 L11.15,15.78 C11.1391868,16.1366743 10.8468382,16.4201639 10.49,16.42 L9.23,16.42 C9.23,16.42 8.98,16.62 8.94,17.75 C8.9,18.88 9.23,19.13 9.23,19.13 L10.49,19.13 C10.49,19.13 11.29,19.13 11.31,19.9 C11.33,20.67 11.31,22.52 11.31,22.52 C11.31,22.52 11.31,23.03 10.97,22.85 L9.76,22.27 C9.76,22.27 8.93,21.87 8.94,22.73 C8.95,23.59 8.94,24.53 8.94,24.53 C8.94,24.53 8.98,25.06 9.75,24.62 Z" id="LM_leftside2" fill="#FFFFFF"></path>
+                <path d="M16.6,12.82 C16.5640845,13.0461448 16.4363396,13.2474057 16.2469908,13.3761629 C16.057642,13.5049201 15.8235128,13.5497335 15.6,13.5 C15.5157002,13.4885804 15.4342916,13.4614442 15.36,13.42 C14.4821686,12.9467916 13.506699,12.6832437 12.51,12.65 C11.5311949,12.6299456 10.5680375,12.8976825 9.74,13.42 C8.91,13.82 8.67,12.82 8.67,12.82 L8.67,11.06 C8.70188656,10.6714097 9.04116607,10.3812364 9.43,10.41 C9.53837526,10.4186243 9.6438555,10.4492476 9.74,10.5 C10.5773234,11.010005 11.5304401,11.2990368 12.51,11.34 C13.5091637,11.2671668 14.4810541,10.9807149 15.36,10.5 C15.36,10.5 16.54,10.26 16.56,11.06 C16.58,11.86 16.6,12.82 16.6,12.82 Z" id="LM_leftside1" fill="#FFFFFF"></path>
+            </g>
+            <g id="Group" transform="translate(0.000000, 81.000000)">
+                <image id="Bitmap" opacity="0.3" style="mix-blend-mode: multiply;" x="0" y="0" width="58" height="64" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADsAAABBCAYAAABvnNwUAAAAAXNSR0IArs4c6QAAAqRJREFUaAXtm01OwzAQhSlUYgNbJDalaxBHgAtwBg7AiVixYsOODScoN0DqAcoNoJUQq/CecaK64zhOm7T1yCNNf+zUns/P4xjkDIqiOOjKBrCu2mpqB3G3Dnywxm+8cYDzFBUX8BPvBd0WLtDcDL5oA90JrAW9Ref3cAL3bQR9hU/hMwDPYzrcGHYJ9AEd3sCpcN9WKkvYZ/gkBni4SVQroFR2G6AMmf1cwUdwkzaIpRmYObuO2w7v8P4G/4ZzwdiFf6HfF/g13MzUOp5DXNDaMIpcdcdw5ui2pi668hpVvrQenFlrwaLh6A684XVb6Ay8TS1vD61z1jZGNanqGM7Odm0cfK4ZxhCjN39bwVpQNsqVd5sL0j9F+LUROBoWoM50Qb/B/AjH1VttEDga1sJFLQS9ocQ1XAscBWun777laQidwIzXbD4Q/xS3o6JxNbag+5qnTcAjXFDt1YOwAE0hT0PAzp0iCItWOB1SyNMQcFVXC2unb0p5WkHVffDCJpyndZymXMAqyNNaYAGLK1Xl6TK5A6sxT72wWvNUwGrOUwGLArV56sBqz1MHFl/4r0/+Ic4NBBVWa1yNuVHmhlk1KBUsbz3OhpkVGq2E1cgmmDKsGBIlBVlZJUIKjKysGBIlBVlZJUIKjKysGBIlBVlZJUIKjKysGBIlBVlZJUIKjKysGBIlBVlZJUIKjKysGBIlBVlZJUIKjKysGBIlBVlZJUIKjFJZnu3XaA4XYXly8xMe9WxMQiNCHnKRz9gRXn/gfILiDH4OP4anbgR9hz/BP3D69pdAQ3yY41zFhF+spX7coAR9BI/zrIA5XL0CTNl5ziJVmyFw71NczuNp9uQMQasDyQkSm9PjFHA1dgeWlfYA2Op1SX0HqLMKl8EL2LJC4/sftL72OnfR538AAAAASUVORK5CYII="></image>
+                <path d="M49.98,61.51 L7.29,61.51 C4.09779415,61.51 1.51,58.9222059 1.51,55.73 L1.51,26.09 C11.87,12.03 19.63,2.22 19.63,2.22 L20.23,2.22 C20.23,2.22 39.69,2.37 44.09,2.37 C45.013529,2.18179526 45.9580478,2.5786519 46.47,3.37 L55.73,12.9 L55.73,55.7 C55.7379772,57.2329575 55.1366519,58.7062958 54.0583133,59.7958867 C52.9799747,60.8854775 51.5129577,61.5020641 49.98,61.51 Z" id="LM_level2_grey-2" fill="#A8AAA8" fill-rule="nonzero"></path>
+            </g>
+            <g id="LM_total">
+                <g id="LM_whitepart" transform="translate(0.000000, 89.000000)" fill="#F1F1F1" fill-rule="nonzero">
+                    <g id="LM_whitepart_combined">
+                        <polygon id="LM_whitepart_top" points="44.46 53.9 37.31 46.53 13.52 15.46 13.52 0.6 0.46 16.74 0.46 47.96 1.46 55.65"></polygon>
+                    </g>
                 </g>
-              </g>
-            </g>
-            <g>
-              <image width="47" height="52" transform="translate(5 87)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAA1CAYAAAAHz2g0AAAACXBIWXMAAAsSAAALEgHS3X78AAABnElEQVRoQ+2azXHCMBBG3zIccQuBM5MWoIHUkAJSUQrIJQWkAlIJ6SDYd+UgGWTjHxQHr5TRm9HFIzz75G8Z8KwYY5iKiMjYnr/AdBQrUwVEpADWwGps70Qq4GiMKf2LkwRc8XvgGStxT47AG3DwJZb9+4fxin8BdkAx/InJbHFPWUQuEsaY4IUt9gn4AE6AmWl9A+/AIy49CwJxDbvBxmaOk/cpgAe8fgsWwN5k69acxdc0vvGCBFzud9jT39C6mQY3C7Sado/O6V9xk4By7ge5SQD93PcyKhBj7n0GBWLNvU+vQArFQ49AzE3bpu8JRNu0ba4EYm/aNg2BVHLvcxZIKfc+/hNIJvc+C0gv9z4LF501iUWnpo7QCvtHIaniodkDycTGZ/THXOxkAW2ygDZZQJssoE0W0CYLaJMFtMkC2mQBbbKANv9K4PdDE/PSqLMWqIAvoDEJEiElts7qfEV59iFknbD1PQFFPbexBDDGlCJy4EJs70hL4BN4pW/cpiVRcf/5nxA6Z4WgY+BpxgmsEDqntWDixFYM/ACNRtJx4q2GRAAAAABJRU5ErkJggg==" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-              <path id="LM_top_grey-2" data-name="LM top grey-2" d="M43.18,135.54H12.09a5.78,5.78,0,0,1-5.79-5.78h0V107.51C15,96.24,21.86,87.1,21.86,87.1H43.18A5.78,5.78,0,0,1,49,92.88h0v36.88a5.78,5.78,0,0,1-5.78,5.78Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
-            </g>
-            <g id="LM_top" data-name="LM top">
-              <g style="clip-path: url(#clip-path-3)">
-                <g id="LM_top_total" data-name="LM top total">
-                  <path id="LM_top_lines" data-name="LM top lines" d="M18.6,112.05v27.47a1.08,1.08,0,0,1-1.12,1,1.06,1.06,0,0,1-1.05-1V112.05A1.09,1.09,0,0,1,18.6,112Zm3.61,0v27.47a1.09,1.09,0,1,1-2.17,0V112.05a1.09,1.09,0,1,1,2.17,0Zm3.62,0v27.47a1.09,1.09,0,1,1-2.17,0V112.05a1.09,1.09,0,1,1,2.17,0Zm3.61,0v27.47a1.09,1.09,0,0,1-2.17.07V112.05a1.09,1.09,0,0,1,2.17-.07Zm3.62,0v27.47A1.1,1.1,0,0,1,32,140.64a1.08,1.08,0,0,1-1.11-1V112.05a1.09,1.09,0,0,1,2.17-.07Z" transform="translate(0.98 1.9)" style="fill: #6a6a6a"/>
+                <g id="Group" transform="translate(5.000000, 87.000000)">
+                    <image id="Bitmap" opacity="0.3" style="mix-blend-mode: multiply;" x="0" y="0" width="47" height="52" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAA1CAYAAAAHz2g0AAAAAXNSR0IArs4c6QAAAhhJREFUaAXtWttRwzAQxAyfpAWSb4YWoAFqoIBURAH8UAAVhEpMBxD+za6xFMmyQcqNLWnmbmbHj1in3btTYjvXdF13IbUGJvURMx5cA7LNxLkYX/YacN/gYAtc25PL7HzDbQu+R9e9SMBA/gEOnwCKWNJaOH8BDq6Iq3NndMjv4eMeYCaWtFs477OMuU8iWEKpgCOSfQTegC+AtbkGPjHPK3AH9NVziZ0kg3ou2B3Aslkj8pjGGgN3A9j1liwAg+mE6SSWLhtMEZj3jZckYKh7Rp3R3wGeMxyvbtECBvL8xuGi5TZH9IMARQnIXPcBafdElIAh2jnr3uXs7f8roMS6dxX8KaDUuo8SUAN5CpnMQMmL1o3+rAB8kPvHasxz9jjIQOmLdqzEE1BL3bsirICa6n5SAE5WU/eBgNrq3hMwlA4fB3Pc37tczto3a4APCHxQKOIOM0WJEcAx2e/tU4iba10B5lxVWxWQO12aAc2AMAJaQsIAiodrBsQhFDrQDAgDKB6uGRCHUOhAMyAMoHi4ZkAcQqEDzYAwgOLhmgFxCIUO3Azwn/YazONpBLAT5APwOkEKVEN+5Em+v8Y+CRjfyOXofeDksWBPBnszyHNj+jv6bhUcHPGO9IAPjK3dA2Hmndsy8u/AM3DqVMGBbbcZiWCKtkAp1oJI0CtEckHD0/CqneRtRwgvzGwMaNCtRU6BgMxEk6f/AY1G0nHf2MzkAAAAAElFTkSuQmCC"></image>
+                    <path d="M39.16,50.44 L8.07,50.44 C6.5353168,50.4426552 5.06258085,49.834865 3.97645681,48.7506168 C2.89033276,47.6663686 2.2799977,46.1946855 2.28,44.66 L2.28,22.41 C10.98,11.14 17.84,2 17.84,2 L39.16,2 C40.6998701,1.9893432 42.1803327,2.59359794 43.2729596,3.67871541 C44.3655865,4.76383288 44.9800369,6.24009301 44.98,7.78 L44.98,44.66 C44.98,46.1929513 44.3710375,47.6631169 43.2870772,48.7470772 C42.2031169,49.8310375 40.7329513,50.44 39.2,50.44 L39.16,50.44 Z" id="LM_top_grey-2" fill="#A8AAA8" fill-rule="nonzero"></path>
+                </g>
+                <g id="LM_top" transform="translate(17.000000, 112.000000)" fill="#6A6A6A" fill-rule="nonzero">
+                    <g id="LM_top_total">
+                        <path d="M2.58,1.95 L2.58,29.42 C2.53732346,30.0007732 2.04187943,30.443134 1.46,30.42 C0.901094365,30.4156223 0.441619994,29.9780276 0.41,29.42 L0.41,1.95 C0.449349984,1.38861093 0.909606462,0.949468178 1.47222361,0.93650465 C2.03484076,0.923541121 2.51483504,1.34101911 2.58,1.9 L2.58,1.95 Z M6.19,1.95 L6.19,29.42 C6.2296472,29.8325035 6.03195189,30.231808 5.67986701,30.4503653 C5.32778212,30.6689226 4.88221788,30.6689226 4.53013299,30.4503653 C4.17804811,30.231808 3.9803528,29.8325035 4.02,29.42 L4.02,1.95 C3.9803528,1.53749648 4.17804811,1.138192 4.53013299,0.919634704 C4.88221788,0.701077408 5.32778212,0.701077408 5.67986701,0.919634704 C6.03195189,1.138192 6.2296472,1.53749648 6.19,1.95 Z M9.81,1.95 L9.81,29.42 C9.8496472,29.8325035 9.65195189,30.231808 9.29986701,30.4503653 C8.94778212,30.6689226 8.50221788,30.6689226 8.15013299,30.4503653 C7.79804811,30.231808 7.6003528,29.8325035 7.64,29.42 L7.64,1.95 C7.6003528,1.53749648 7.79804811,1.138192 8.15013299,0.919634704 C8.50221788,0.701077408 8.94778212,0.701077408 9.29986701,0.919634704 C9.65195189,1.138192 9.8496472,1.53749648 9.81,1.95 Z M13.42,1.95 L13.42,29.42 C13.3873113,29.9829764 12.9306072,30.4280683 12.3669758,30.44625 C11.8033444,30.4644316 11.318904,30.0496992 11.25,29.49 L11.25,1.95 C11.2826887,1.38702361 11.7393928,0.941931677 12.3030242,0.923750018 C12.8666556,0.905568359 13.351096,1.3203008 13.42,1.88 L13.42,1.95 Z M17.04,1.95 L17.04,29.42 C17.0513034,30.0199642 16.5796777,30.5182857 15.98,30.54 C15.401933,30.5576338 14.9125708,30.1167669 14.87,29.54 L14.87,1.95 C14.9026887,1.38702361 15.3593928,0.941931677 15.9230242,0.923750018 C16.4866556,0.905568359 16.971096,1.3203008 17.04,1.88 L17.04,1.95 Z" id="LM_top_lines"></path>
+                    </g>
+                </g>
+                <circle id="LM_detail_2" fill="#9A9A9A" fill-rule="nonzero" cx="50.32" cy="137.11" r="2.24"></circle>
+                <image id="Bitmap" opacity="0.3" style="mix-blend-mode: multiply;" x="44" y="0" width="38" height="38" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACcAAAAnCAYAAACMo1E1AAAAAXNSR0IArs4c6QAAAu1JREFUWAnNmD1y1EAQhb1bhJgjsMT8HAEuQGJHRJyOhAwCTmAyQqpMvOsbYDtGvE/Mm+oZaWUtaHfoqt75n/70WquSZtV13dkhtpKF+Y9V38gpbfeq7OSU2RTnsEBauZq7JkHVMIBdyiltgH2SU9oy8CGQs+AEdq4oALyQR5gaFpgMQiOZga/V3gnwzgNT5SRcUguw1/L3cuCAjGlcqV1bV3UYGLgP8q/yu4dUfFRtkpuVWoABCOgYTF6XKvUc1nFhT+VcGH6tGJMqjiqXwN5og6gWAZYwUkqareLV3jRr4Cy6FgHxVv5F/lP+S06alnT2ZG9iEOs8Mrheg5GOV/KPchYvCTS2FzGIRcw+iwajXKszGqo9T0792DYdz6SiYKLTeav62JUeo49Yo+nt06rBU6ezvkin9yUsFsxp5a99ynQqXGFkbSOHI9s6PWgZuJQ/k6NiCwOsAIzK+QHZAgxBLNAmCVb8W1spZjFQrhDIyrUGMyAcmQW4AbFnNigLFuByrlXP1A3AiB1Z+nuuoG0AFUMWLL7n4oSWdd77buSUvXJFB52NrFPcnTy/4qNc7GBCSyuEAq7oaEmWYmeBfM/ljsZwBYfhYCoGGkAOMmi4wcCJ4RAm3/t6ZeqFWqeKB7aa1EpBBIKDsreo3A/14LM+eP8sX+zXX2QZrN/Zb51q/J+v6QHwiSDfyb/Lj/FJyC0Tfe/3A0xOq9b0hrynSi8Xv5X3xxOCGdxOBZwmcFV5ger+ClN1UQOEL/5vqRyAEW1wVsIV6DX5ikEZNyhnHBs59+S/GhcPCAc5KAbgNomiammjZyVMSeclQAEXD3L6YX4OMKD8qPAZyYMnTQPlHDApyEY3aWM2B5Z3LpeqZlulGiDRIhRvHOy5Y/84aay+V7k4OahoMD4jAbS5n3bxIE3tDKX2/b40sjjaLDgW+HNNVYNQ2gC9SI3PKgG0WbnZUF44G84LKAOouw1Mu1aOI4861V43Wf4V3OSOCw7+BmjmA7QisxQnAAAAAElFTkSuQmCC"></image>
+                <circle id="LM_detail_1" fill="#9A9A9A" fill-rule="nonzero" cx="21.66" cy="86.59" r="2.24"></circle>
+                <g id="hole" transform="translate(45.000000, 1.000000)" fill-rule="nonzero">
+                    <g id="Group" fill="#D42715">
+                        <circle id="LM_red-2" cx="17.96" cy="17.95" r="17.06"></circle>
+                    </g>
+                    <g id="LM_details_in_red" transform="translate(2.000000, 2.000000)">
+                        <circle id="LM_detail_red_hole4" fill="#393939" cx="12.9" cy="27.01" r="3.79"></circle>
+                        <circle id="LM_detail_red_hole3" fill="#393939" cx="4.75" cy="12.89" r="3.79"></circle>
+                        <circle id="LM_detail_red_hole2" fill="#393939" cx="18.87" cy="4.74" r="3.79"></circle>
+                        <circle id="LM_detail_red_hole1" fill="#393939" cx="27.02" cy="18.86" r="3.79"></circle>
+                        <path d="M18.18,15.31 C17.9816076,15.2705154 17.8089761,15.149396 17.7043432,14.9762761 C17.5997103,14.8031562 17.5727287,14.5940066 17.63,14.4 C17.84,13.68 17.99,13.07 17.99,13.07 C17.99,13.07 17.82,12.72 16.72,12.43 C15.62,12.14 15.37,12.37 15.37,12.37 L14.98,13.7 C14.98,13.7 14.82,14.42 14.17,14.24 L12.98,13.9 C12.98,13.9 12.58,14.03 12.38,14.96 C12.2599627,15.4271881 12.2395203,15.9143986 12.32,16.39 L13.57,16.72 C13.9132251,16.8260991 14.1147049,17.1808788 14.03,17.53 C13.87,18.14 13.7,18.74 13.7,18.74 C13.7,18.74 13.82,19.04 14.9,19.36 C15.98,19.68 16.32,19.45 16.32,19.45 L16.64,18.23 C16.64,18.23 16.9,17.47 17.64,17.64 C18.04,17.7533333 18.44,17.8833333 18.84,18.03 C19.3790257,17.4116231 19.6330766,16.5950309 19.54,15.78 C18.89,15.55 18.18,15.31 18.18,15.31 Z" id="LM_detail_hole" fill="#1F1F1F"></path>
+                        <path d="M15.62,23.13 L14.07,22.9 L12.54,22.33 C12.29437,22.2663058 12.1467122,22.015735 12.21,21.77 L12.76,19.72 C12.8281001,19.4784149 13.0772913,19.3360199 13.32,19.4 L14.77,20 L16.4,20.22 C16.64563,20.2836942 16.7932878,20.534265 16.73,20.78 L16.18,22.83 C16.1519467,22.9468655 16.0773095,23.0471692 15.9734274,23.1076097 C15.8695454,23.1680501 15.7454609,23.1833663 15.63,23.15 L15.62,23.13 Z" id="LM_detail_red4" fill="#393939"></path>
+                        <path d="M23.13,16.2 L22.87,17.75 L22.3,19.27 C22.2716803,19.3872072 22.1975067,19.4881458 22.0941102,19.5501837 C21.9907137,19.6122216 21.8667451,19.6301684 21.75,19.6 L19.69,19.05 C19.4484149,18.9818999 19.3060199,18.7327087 19.37,18.49 L19.98,17.05 L20.2,15.42 C20.2283197,15.3027928 20.3024933,15.2018542 20.4058898,15.1398163 C20.5092863,15.0777784 20.6332549,15.0598316 20.75,15.09 L22.75,15.64 C22.9915851,15.7081001 23.1339801,15.9572913 23.07,16.2 L23.13,16.2 Z" id="LM_detail_red3" fill="#393939"></path>
+                        <path d="M16.19,8.69 L17.74,8.94 L19.27,9.51 C19.5107539,9.57376787 19.6570302,9.81756168 19.6,10.06 L19.05,12.11 C18.9818999,12.3515851 18.7327087,12.4939801 18.49,12.43 L17.04,11.83 L15.41,11.61 C15.167847,11.5417439 15.0223875,11.2949036 15.08,11.05 L15.63,9 C15.6580533,8.88313454 15.7326905,8.78283079 15.8365726,8.72239033 C15.9404546,8.66194987 16.0645391,8.64663373 16.18,8.68 L16.19,8.69 Z" id="LM_detail_red2" fill="#393939"></path>
+                        <path d="M8.68,15.62 L8.98,14.07 L9.55,12.55 C9.57831973,12.4327928 9.65249325,12.3318542 9.75588978,12.2698163 C9.85928631,12.2077784 9.98325491,12.1898316 10.1,12.22 L12.16,12.77 C12.4015851,12.8381001 12.5439801,13.0872913 12.48,13.33 L11.87,14.77 L11.65,16.4 C11.6216803,16.5172072 11.5475067,16.6181458 11.4441102,16.6801837 C11.3407137,16.7422216 11.2167451,16.7601684 11.1,16.73 L9.1,16.18 C8.85841494,16.1118999 8.71601994,15.8627087 8.78,15.62 L8.68,15.62 Z" id="LM_detail_red1" fill="#393939"></path>
+                    </g>
                 </g>
-              </g>
             </g>
-            <circle id="LM_detail_2" data-name="LM detail 2" cx="50.32" cy="137.11" r="2.24" style="fill: #9a9a9a"/>
-            <circle id="LM_detail_1" data-name="LM detail 1" cx="21.66" cy="86.59" r="2.24" style="fill: #9a9a9a"/>
-            <g id="hole">
-              <g>
-                <image width="38" height="38" transform="translate(44)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACcAAAAnCAYAAACMo1E1AAAACXBIWXMAAAsSAAALEgHS3X78AAACRklEQVRYR9WYPXLbMBBGHzgpxRwhTJ3ER0gukMauUvl0btIlhU9gdSkzQ9dWbmBTtTYFdiUA/BGh0ILyzWBAUiTx+C0JYdeJCDlyzrlgdwU02pu2wEb7vSR3IMDNvUahUpgGuNHetAF+aG/aA+dAzoJzztV4gI/EMHOdM+AW2IhIxwxNwqlbNfAZuMXDpTBhmE3pTQ24Be6ANdAdc/HN2A+JW7d4wJphmFTpOTX+Pu/wD7YCWufcpIuDzinYF2K36t6Jp6kjdvFhFFBEooaH+ArcA8/ADh+mJdtO732vY9Uph4iQgjngCviuFx8b5F/bs451hUYxbBWxauCDtqXCOKXp8UbC+cLxp16qvTAS3lLhTJuF9xNBeC2sK84bzlQ2bYXzJ5VOtA1+5n/PvHnsNdT7twmdswmyhEKDGltchF9rKcdMPYMMrjSYyRGwVJQPaaiIpSJek5V0MHrv4D9w7pK0Bf5oT5UeKCghWeJXyQEZvfQ8uljnTHuD7J0r7Zgp4gg/iNKAvQgaXOnQRh+DZWWVbtgPT5RzsJfvhs49apuV8C4sy8jiyF38Mj0AfAt8A37zOinhbLCh7KvjfOHd4d/xO2AtA4l1BKcfx/4CDuFdWh0+4/+l/aARvVqJiHTOuQfd3bJsOULwIGu8AS3wZFNHqtEq00QhB/LXfcIJlabRKpM62HKYnLccsiPrQxlwOlgIlVWjyy0eGlhazbTjcKRwSEZ1cxYcRLXgIeca4Fq3f7JAyRUy4EIlRWuYdo5cKNNJcOfSX2jmA7RYwAeRAAAAAElFTkSuQmCC" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-                <circle id="LM_red-2" data-name="LM red-2" cx="62.96" cy="18.95" r="17.06" style="fill: #d42715"/>
-              </g>
-              <g id="LM_details_in_red" data-name="LM details in red">
-                <circle id="LM_detail_red_hole4" data-name="LM detail red hole4" cx="59.9" cy="30.01" r="3.79" style="fill: #393939"/>
-                <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>
+</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"/>
-          <g>
-            <image width="36" height="20" transform="translate(9 136)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACUAAAAVCAYAAADB5CeuAAAACXBIWXMAAAsSAAALEgHS3X78AAAAp0lEQVRIS+3WsW3DMBBG4Y+GSmcGp/cAHsuzeIasFPdWVpD6c0FKcBWwOxV8wIEgSIAPvOL+EhFKKcUBiIiAgjO+25rJildErJMqdMdVlcwg8MQDv5P6Q1fc5ErRujW1TfmoLPa3T//dymJI9TKkehlSvQypXoZUL5vUNhAz2R1Oao75w9IOMmpRHVZqSpjxo3KRw+YwQ2lx+EsVykqfK+aIWGhSR+MNDy9ID5XUCOsAAAAASUVORK5CYII=" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-            <path id="LM_back1-2" data-name="LM back1-2" d="M41.86,152.17H10.53a.6.6,0,0,1-.6-.6v-14.7a.6.6,0,0,1,.6-.6H41.86a.6.6,0,0,1,.6.6h0v14.7A.6.6,0,0,1,41.86,152.17Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
-          </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"/>
-            <circle id="LM_rightside4" data-name="LM rightside4" cx="28.3" cy="66.21" r="3.79" style="fill: #fff"/>
-            <circle id="LM_rightside3" data-name="LM rightside3" cx="28.3" cy="43" r="3.79" style="fill: #fff"/>
-            <path id="LM_rightside2" data-name="LM rightside2" d="M24.4,59.69A4.16,4.16,0,0,1,26.74,59a5.23,5.23,0,0,1,3,.71c1.25.93,1.23-.1,1.23-.1v-1.8c0-.45-.56-.85-1.23-.46l-1,.58s-.36.19-.36-.33V55s0-.79.73-.77,1.38,0,1.38,0,.29-.25.29-1.39-.29-1.32-.29-1.32H29.1s-.73,0-.73-.65v-1.3s-.23-.36-1.17-.3a3.56,3.56,0,0,0-1.4.3v1.3a.66.66,0,0,1-.66.65c-.63,0-1.26,0-1.26,0s-.25.19-.29,1.32.29,1.39.29,1.39h1.26s.8.05.82.77,0,2.62,0,2.62,0,.51-.34.33l-1.21-.58s-.83-.41-.82.46,0,1.8,0,1.8S23.67,60.12,24.4,59.69Z" transform="translate(0.98 1.9)" style="fill: #fff"/>
-            <path id="LM_rightside1" data-name="LM rightside1" d="M31.25,47.89a.84.84,0,0,1-1,.68.85.85,0,0,1-.24-.09,6.63,6.63,0,0,0-2.85-.77,5.11,5.11,0,0,0-2.77.77c-.83.4-1.07-.59-1.07-.59V46.13a.72.72,0,0,1,.76-.66.67.67,0,0,1,.31.1,5.79,5.79,0,0,0,2.77.84,7.12,7.12,0,0,0,2.85-.84s1.18-.24,1.2.56S31.25,47.89,31.25,47.89Z" transform="translate(0.98 1.9)" style="fill: #fff"/>
-          </g>
-          <g>
-            <image width="36" height="76" transform="translate(32 12)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACUAAABNCAYAAAAhOa00AAAACXBIWXMAAAsSAAALEgHS3X78AAACAElEQVRoQ+3avVHDMBiA4VdcypgREmo4RggLpKKHAZiIAWgoKZggrEAGCBsQpxeFpNgJ/vkkK5YLvXe6g2Cb53zE9oVPaa3xSSmlALTvjh4pn2MrpQpgab/dAYdL4MQoC3oAnuxLH8AW2Gmty9YdAxKhaqAXYAUozJnaAm/AJiZs1rfBGegBKOyP7oAFMLfbRYN1ojpAYM7WtX3dbR8F1orqAdVz27n9BsMaUR4gV1yY1vpkYX7BGvgE9oD2WL/AO3CPfROFrKs6MOAMnVcAt3b57lsV6QzV194eYw0UfWelacUGRYFdAjQYNsPcy54xV+rwv4P/Bb8jZ5gr8oK4IFcQzF2nVOdWw/KG9d77IuUFGwsFHrAxUSCEjY0CASwFCnpgqVDQAUuJghZYahQY2Ao4YJ77v08eXRJWUHvenwoKaneVKaGOZZS0jJKWUdIySlpGScsoaRklLaOkZZS0jJKWUdIySlpGScsoaRklLaOkTQml3RdTQZXAD+bD2EmgSuALMwmyg/SoEtgAr9RGU1KiGkGQDtUKgjSoThCMj+oFwbgoEQjGQ4lBMA7KCwSXR3mDoPonpBsFccWYUwgCgUEdMAN/YDBzzKjJvG0nQe7W4Q2CCnFDhVgCj1TznCHtGDDVqLTWxylXW4wzdWDA/GfjnOcZMijddGBhouHTsfsDst/cEY24RzwAAAAASUVORK5CYII=" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-            <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"/>
-          </g>
-          <g>
-            <image width="25" height="27" transform="translate(32 69)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAABoAAAAcCAYAAAB/E6/TAAAACXBIWXMAAAsSAAALEgHS3X78AAABYUlEQVRIS+2WvVXDMBRG7/NxGVf0CRVFchghWSAVA2QAxmEGGgZgguzgHlPTELv/KCSD/BMs2wkV9xwf2/LPlZ70JJkk2piZdQojUd8PAWuXm1kGrIBF3wcDVEAhqWw/aIi8ZAcccLKxFMAzcGzL0voikDwCWyBjPGt8JMysKfMtMuAeeAE+Ac04TsArsAcySUj6blGGq82aaS0JyXARqYDCzHJJSnzItrh+ucW1bi4ZsCQYUAmu0w9M75dzNCqc4KxLLivpkPjzJcL1Kwl/xL9oMnXC1lkdw6SBk+IyOPf3Qz9Z8DOzD73bIAXegCfiloUV8ABs/HV07qWSKjPLiSP3xwY3m+yIlKVwflXsofSVeseFHCJlKSPxlTqZ2TEoHpSNFtVIKsfIJotgnGyWCHplW3pG8GwRdGQVbqXu35zMJZAVONEdgayzr5uL33wugBvgQ1IFVxDVmJmF+Xk1UZsvIeCPQjWq5BoAAAAASUVORK5CYII=" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-            <path id="LM_level3-2" data-name="LM level3-2" d="M54,92V74.7a2.19,2.19,0,0,0-.3-1.12c-.28-.27-3.52-3.62-3.52-3.62a1.55,1.55,0,0,0-1.16-.4c-.75,0-11.62,0-11.62,0L33,74.26v8l10.66.57Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
-          </g>
-          <g id="LM_leftside" data-name="LM leftside">
-            <path id="LM_leftside5" data-name="LM leftside5" d="M60.08,126.64H54.47A5.45,5.45,0,0,1,49,121.18h0V98.28a5.46,5.46,0,0,1,5.46-5.46h5.61a5.47,5.47,0,0,1,5.46,5.46v22.9A5.45,5.45,0,0,1,60.08,126.64Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
-            <circle id="LM_leftside4" data-name="LM leftside4" cx="61.67" cy="123.24" r="3.79" style="fill: #fff"/>
-            <circle id="LM_leftside3" data-name="LM leftside3" cx="61.67" cy="100.03" r="3.79" style="fill: #fff"/>
-            <path id="LM_leftside2" data-name="LM leftside2" d="M57.77,116.72a4.15,4.15,0,0,1,2.34-.7,5.14,5.14,0,0,1,3,.7c1.25.93,1.23-.1,1.23-.1v-1.8c0-.45-.56-.84-1.23-.46l-1,.58s-.36.19-.36-.33V112s0-.79.73-.77,1.38,0,1.38,0,.29-.25.29-1.38-.29-1.33-.29-1.33H62.47s-.73,0-.73-.64v-1.3s-.23-.36-1.17-.31a3.57,3.57,0,0,0-1.4.31v1.3a.66.66,0,0,1-.66.64H57.25s-.25.2-.29,1.33.29,1.38.29,1.38h1.26s.8,0,.82.77,0,2.62,0,2.62,0,.51-.34.33l-1.21-.58s-.83-.4-.82.46,0,1.8,0,1.8S57,117.16,57.77,116.72Z" transform="translate(0.98 1.9)" style="fill: #fff"/>
-            <path id="LM_leftside1" data-name="LM leftside1" d="M64.62,104.92a.83.83,0,0,1-1,.68.68.68,0,0,1-.24-.08,6.46,6.46,0,0,0-2.85-.77,5,5,0,0,0-2.77.77c-.83.4-1.07-.6-1.07-.6v-1.76a.71.71,0,0,1,.76-.65.8.8,0,0,1,.31.09,5.79,5.79,0,0,0,2.77.84,7,7,0,0,0,2.85-.84s1.18-.24,1.2.56S64.62,104.92,64.62,104.92Z" transform="translate(0.98 1.9)" style="fill: #fff"/>
-          </g>
-          <g>
-            <image width="58" height="64" transform="translate(0 81)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADsAAABBCAYAAABvnNwUAAAACXBIWXMAAAsSAAALEgHS3X78AAACFElEQVRoQ+2bQY7TMBSGvxcqsaFbJDbDrEEcYeYCcwYOwIlYsWLDjg0nGG6A1ANkbgCNhGb1WNgBpxPbaUjT+smf5E3lxPlq/25S5YmqshQiIrk+S6EzLlxmHDOKiGyB18CLXN8F6IAW6I6RXkTWi94C73HCp6YFvgI7oFXVfaY/sIBsIPoBuAG26SMWoZ/ZHfAZuJ8ivMl1SHEgess6ouDGeQtc4WMjInlhVZ3VcAPeAd+AX4Ceqf0EvgDv8Cs11hpm4Hfda1xG11q6MbbAG9+S1zFLliMGWIHBF++jNcrRmfUnu8Gd/Bo32Lnp9w4gnt+jZM+4IU0hKzxZ9sJyGiMpPFmWy8ppiqjwJNkLzWmK/no7oBWRnapqdje+8Jym2BLcdEDmp6eQnKYYrMDczJaS00lEZQvMaZZR2YJzmuSJrIGcRhmbWVM5DRnIWsxpyF9ZqzkNacB2TkP6mTWb05DGek5DGtxfn6aXb0+Du1G+wrgo/Mus2aUbknsQMEWVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUqVtUovq8le5TLwanBvbj4A2VKRwtjjvLr+g2fAb1wFxUvgFfB89NCy2APfgU/AD1V9BNio6l5E7oOOpb9u0It+5KC4aQNwINyxTonZqWiJVHENytNk3eLBU9ERqc97UovnXwArGj2U8vx34WFJ/AG0vvY6LSeZMAAAAABJRU5ErkJggg==" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-            <path id="LM_level2_grey-2" data-name="LM level2 grey-2" d="M49,140.61H6.31a5.78,5.78,0,0,1-5.78-5.78h0V105.19C10.89,91.13,18.65,81.32,18.65,81.32h.6s19.46.15,23.86.15a2.29,2.29,0,0,1,2.38,1L54.75,92v42.8A5.78,5.78,0,0,1,49,140.61Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
-          </g>
-          <g id="LM_total" data-name="LM total">
-            <g id="LM_whitepart" data-name="LM whitepart">
-              <g style="clip-path: url(#clip-path-2)">
-                <g id="LM_whitepart_combined" data-name="LM whitepart combined">
-                  <path id="LM_whitepart_top" data-name="LM whitepart top" d="M43.48,141l-7.15-7.37L12.54,102.56V87.7L-.52,103.84v31.22l1,7.69Z" transform="translate(0.98 1.9)" style="fill: #f1f1f1"/>
+    export const LARGE_MOTOR_SVG = `<?xml version="1.0" encoding="UTF-8"?>
+<svg width="82px" height="156px" viewBox="0 0 82 156" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
+    <!-- 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)">
+            <path d="M39.98,155.52 L13.67,155.52 C13.3386292,155.52 13.07,155.251371 13.07,154.92 L13.07,149.62 C13.07,149.288629 13.3386292,149.02 13.67,149.02 L39.98,149.02 C40.3113708,149.02 40.58,149.288629 40.58,149.62 L40.58,154.9 C40.5854219,155.062566 40.5246096,155.220368 40.4114947,155.337253 C40.2983799,155.454138 40.1426565,155.52009 39.98,155.52 Z" id="LM_back2" fill="#A8AAA8" fill-rule="nonzero"></path>
+            <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>
+                <path d="M33.84,18.07 L2.51,18.07 C2.17862915,18.07 1.91,17.8013708 1.91,17.47 L1.91,2.77 C1.91,2.43862915 2.17862915,2.17 2.51,2.17 L33.84,2.17 C34.1713708,2.17 34.44,2.43862915 34.44,2.77 L34.44,17.47 C34.44,17.8013708 34.1713708,18.07 33.84,18.07 Z" id="LM_back1-2" fill="#A8AAA8" fill-rule="nonzero"></path>
+            </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>
+                <path d="M22.9800421,24.9 L22.98,7.6 C22.9824406,7.20649401 22.8788083,6.81960003 22.68,6.48 C22.4,6.21 19.16,2.86 19.16,2.86 C18.8448174,2.57277854 18.4252272,2.42809227 18,2.46 C17.25,2.46 6.38,2.46 6.38,2.46 L1.98,7.16 L1.98,15.16 L12.64,15.73 L22.9800421,24.9 Z" id="LM_level3-2" fill="#A8AAA8" fill-rule="nonzero"></path>
+            </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>
+                <path d="M9.75,24.62 C10.4421225,24.1572205 11.2574415,23.9133217 12.09,23.92 C13.1380484,23.8411302 14.1850856,24.0854388 15.09,24.62 C16.34,25.55 16.32,24.52 16.32,24.52 L16.32,22.72 C16.32,22.27 15.76,21.88 15.09,22.26 L14.09,22.84 C14.09,22.84 13.73,23.03 13.73,22.51 L13.73,19.9 C13.73,19.9 13.73,19.11 14.46,19.13 C15.19,19.15 15.84,19.13 15.84,19.13 C15.84,19.13 16.13,18.88 16.13,17.75 C16.13,16.62 15.84,16.42 15.84,16.42 L14.45,16.42 C14.45,16.42 13.72,16.42 13.72,15.78 L13.72,14.48 C13.72,14.48 13.49,14.12 12.55,14.17 C12.0671703,14.1775857 11.5908982,14.283046 11.15,14.48 L11.15,15.78 C11.1391868,16.1366743 10.8468382,16.4201639 10.49,16.42 L9.23,16.42 C9.23,16.42 8.98,16.62 8.94,17.75 C8.9,18.88 9.23,19.13 9.23,19.13 L10.49,19.13 C10.49,19.13 11.29,19.13 11.31,19.9 C11.33,20.67 11.31,22.52 11.31,22.52 C11.31,22.52 11.31,23.03 10.97,22.85 L9.76,22.27 C9.76,22.27 8.93,21.87 8.94,22.73 C8.95,23.59 8.94,24.53 8.94,24.53 C8.94,24.53 8.98,25.06 9.75,24.62 Z" id="LM_leftside2" fill="#FFFFFF"></path>
+                <path d="M16.6,12.82 C16.5640845,13.0461448 16.4363396,13.2474057 16.2469908,13.3761629 C16.057642,13.5049201 15.8235128,13.5497335 15.6,13.5 C15.5157002,13.4885804 15.4342916,13.4614442 15.36,13.42 C14.4821686,12.9467916 13.506699,12.6832437 12.51,12.65 C11.5311949,12.6299456 10.5680375,12.8976825 9.74,13.42 C8.91,13.82 8.67,12.82 8.67,12.82 L8.67,11.06 C8.70188656,10.6714097 9.04116607,10.3812364 9.43,10.41 C9.53837526,10.4186243 9.6438555,10.4492476 9.74,10.5 C10.5773234,11.010005 11.5304401,11.2990368 12.51,11.34 C13.5091637,11.2671668 14.4810541,10.9807149 15.36,10.5 C15.36,10.5 16.54,10.26 16.56,11.06 C16.58,11.86 16.6,12.82 16.6,12.82 Z" id="LM_leftside1" fill="#FFFFFF"></path>
+            </g>
+            <g id="Group" transform="translate(0.000000, 81.000000)">
+                <image id="Bitmap" opacity="0.3" style="mix-blend-mode: multiply;" x="0" y="0" width="58" height="64" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADsAAABBCAYAAABvnNwUAAAAAXNSR0IArs4c6QAAAqRJREFUaAXtm01OwzAQhSlUYgNbJDalaxBHgAtwBg7AiVixYsOODScoN0DqAcoNoJUQq/CecaK64zhOm7T1yCNNf+zUns/P4xjkDIqiOOjKBrCu2mpqB3G3Dnywxm+8cYDzFBUX8BPvBd0WLtDcDL5oA90JrAW9Ref3cAL3bQR9hU/hMwDPYzrcGHYJ9AEd3sCpcN9WKkvYZ/gkBni4SVQroFR2G6AMmf1cwUdwkzaIpRmYObuO2w7v8P4G/4ZzwdiFf6HfF/g13MzUOp5DXNDaMIpcdcdw5ui2pi668hpVvrQenFlrwaLh6A684XVb6Ay8TS1vD61z1jZGNanqGM7Odm0cfK4ZxhCjN39bwVpQNsqVd5sL0j9F+LUROBoWoM50Qb/B/AjH1VttEDga1sJFLQS9ocQ1XAscBWun777laQidwIzXbD4Q/xS3o6JxNbag+5qnTcAjXFDt1YOwAE0hT0PAzp0iCItWOB1SyNMQcFVXC2unb0p5WkHVffDCJpyndZymXMAqyNNaYAGLK1Xl6TK5A6sxT72wWvNUwGrOUwGLArV56sBqz1MHFl/4r0/+Ic4NBBVWa1yNuVHmhlk1KBUsbz3OhpkVGq2E1cgmmDKsGBIlBVlZJUIKjKysGBIlBVlZJUIKjKysGBIlBVlZJUIKjKysGBIlBVlZJUIKjKysGBIlBVlZJUIKjKysGBIlBVlZJUIKjKysGBIlBVlZJUIKjFJZnu3XaA4XYXly8xMe9WxMQiNCHnKRz9gRXn/gfILiDH4OP4anbgR9hz/BP3D69pdAQ3yY41zFhF+spX7coAR9BI/zrIA5XL0CTNl5ziJVmyFw71NczuNp9uQMQasDyQkSm9PjFHA1dgeWlfYA2Op1SX0HqLMKl8EL2LJC4/sftL72OnfR538AAAAASUVORK5CYII="></image>
+                <path d="M49.98,61.51 L7.29,61.51 C4.09779415,61.51 1.51,58.9222059 1.51,55.73 L1.51,26.09 C11.87,12.03 19.63,2.22 19.63,2.22 L20.23,2.22 C20.23,2.22 39.69,2.37 44.09,2.37 C45.013529,2.18179526 45.9580478,2.5786519 46.47,3.37 L55.73,12.9 L55.73,55.7 C55.7379772,57.2329575 55.1366519,58.7062958 54.0583133,59.7958867 C52.9799747,60.8854775 51.5129577,61.5020641 49.98,61.51 Z" id="LM_level2_grey-2" fill="#A8AAA8" fill-rule="nonzero"></path>
+            </g>
+            <g id="LM_total">
+                <g id="LM_whitepart" transform="translate(0.000000, 89.000000)" fill="#F1F1F1" fill-rule="nonzero">
+                    <g id="LM_whitepart_combined">
+                        <polygon id="LM_whitepart_top" points="44.46 53.9 37.31 46.53 13.52 15.46 13.52 0.6 0.46 16.74 0.46 47.96 1.46 55.65"></polygon>
+                    </g>
                 </g>
-              </g>
-            </g>
-            <g>
-              <image width="47" height="52" transform="translate(5 87)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAA1CAYAAAAHz2g0AAAACXBIWXMAAAsSAAALEgHS3X78AAABnElEQVRoQ+2azXHCMBBG3zIccQuBM5MWoIHUkAJSUQrIJQWkAlIJ6SDYd+UgGWTjHxQHr5TRm9HFIzz75G8Z8KwYY5iKiMjYnr/AdBQrUwVEpADWwGps70Qq4GiMKf2LkwRc8XvgGStxT47AG3DwJZb9+4fxin8BdkAx/InJbHFPWUQuEsaY4IUt9gn4AE6AmWl9A+/AIy49CwJxDbvBxmaOk/cpgAe8fgsWwN5k69acxdc0vvGCBFzud9jT39C6mQY3C7Sado/O6V9xk4By7ge5SQD93PcyKhBj7n0GBWLNvU+vQArFQ49AzE3bpu8JRNu0ba4EYm/aNg2BVHLvcxZIKfc+/hNIJvc+C0gv9z4LF501iUWnpo7QCvtHIaniodkDycTGZ/THXOxkAW2ygDZZQJssoE0W0CYLaJMFtMkC2mQBbbKANv9K4PdDE/PSqLMWqIAvoDEJEiElts7qfEV59iFknbD1PQFFPbexBDDGlCJy4EJs70hL4BN4pW/cpiVRcf/5nxA6Z4WgY+BpxgmsEDqntWDixFYM/ACNRtJx4q2GRAAAAABJRU5ErkJggg==" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-              <path id="LM_top_grey-2" data-name="LM top grey-2" d="M43.18,135.54H12.09a5.78,5.78,0,0,1-5.79-5.78h0V107.51C15,96.24,21.86,87.1,21.86,87.1H43.18A5.78,5.78,0,0,1,49,92.88h0v36.88a5.78,5.78,0,0,1-5.78,5.78Z" transform="translate(0.98 1.9)" style="fill: #a8aaa8"/>
-            </g>
-            <g id="LM_top" data-name="LM top">
-              <g style="clip-path: url(#clip-path-3)">
-                <g id="LM_top_total" data-name="LM top total">
-                  <path id="LM_top_lines" data-name="LM top lines" d="M18.6,112.05v27.47a1.08,1.08,0,0,1-1.12,1,1.06,1.06,0,0,1-1.05-1V112.05A1.09,1.09,0,0,1,18.6,112Zm3.61,0v27.47a1.09,1.09,0,1,1-2.17,0V112.05a1.09,1.09,0,1,1,2.17,0Zm3.62,0v27.47a1.09,1.09,0,1,1-2.17,0V112.05a1.09,1.09,0,1,1,2.17,0Zm3.61,0v27.47a1.09,1.09,0,0,1-2.17.07V112.05a1.09,1.09,0,0,1,2.17-.07Zm3.62,0v27.47A1.1,1.1,0,0,1,32,140.64a1.08,1.08,0,0,1-1.11-1V112.05a1.09,1.09,0,0,1,2.17-.07Z" transform="translate(0.98 1.9)" style="fill: #6a6a6a"/>
+                <g id="Group" transform="translate(5.000000, 87.000000)">
+                    <image id="Bitmap" opacity="0.3" style="mix-blend-mode: multiply;" x="0" y="0" width="47" height="52" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAADAAAAA1CAYAAAAHz2g0AAAAAXNSR0IArs4c6QAAAhhJREFUaAXtWttRwzAQxAyfpAWSb4YWoAFqoIBURAH8UAAVhEpMBxD+za6xFMmyQcqNLWnmbmbHj1in3btTYjvXdF13IbUGJvURMx5cA7LNxLkYX/YacN/gYAtc25PL7HzDbQu+R9e9SMBA/gEOnwCKWNJaOH8BDq6Iq3NndMjv4eMeYCaWtFs477OMuU8iWEKpgCOSfQTegC+AtbkGPjHPK3AH9NVziZ0kg3ou2B3Aslkj8pjGGgN3A9j1liwAg+mE6SSWLhtMEZj3jZckYKh7Rp3R3wGeMxyvbtECBvL8xuGi5TZH9IMARQnIXPcBafdElIAh2jnr3uXs7f8roMS6dxX8KaDUuo8SUAN5CpnMQMmL1o3+rAB8kPvHasxz9jjIQOmLdqzEE1BL3bsirICa6n5SAE5WU/eBgNrq3hMwlA4fB3Pc37tczto3a4APCHxQKOIOM0WJEcAx2e/tU4iba10B5lxVWxWQO12aAc2AMAJaQsIAiodrBsQhFDrQDAgDKB6uGRCHUOhAMyAMoHi4ZkAcQqEDzYAwgOLhmgFxCIUO3Azwn/YazONpBLAT5APwOkEKVEN+5Em+v8Y+CRjfyOXofeDksWBPBnszyHNj+jv6bhUcHPGO9IAPjK3dA2Hmndsy8u/AM3DqVMGBbbcZiWCKtkAp1oJI0CtEckHD0/CqneRtRwgvzGwMaNCtRU6BgMxEk6f/AY1G0nHf2MzkAAAAAElFTkSuQmCC"></image>
+                    <path d="M39.16,50.44 L8.07,50.44 C6.5353168,50.4426552 5.06258085,49.834865 3.97645681,48.7506168 C2.89033276,47.6663686 2.2799977,46.1946855 2.28,44.66 L2.28,22.41 C10.98,11.14 17.84,2 17.84,2 L39.16,2 C40.6998701,1.9893432 42.1803327,2.59359794 43.2729596,3.67871541 C44.3655865,4.76383288 44.9800369,6.24009301 44.98,7.78 L44.98,44.66 C44.98,46.1929513 44.3710375,47.6631169 43.2870772,48.7470772 C42.2031169,49.8310375 40.7329513,50.44 39.2,50.44 L39.16,50.44 Z" id="LM_top_grey-2" fill="#A8AAA8" fill-rule="nonzero"></path>
+                </g>
+                <g id="LM_top" transform="translate(17.000000, 112.000000)" fill="#6A6A6A" fill-rule="nonzero">
+                    <g id="LM_top_total">
+                        <path d="M2.58,1.95 L2.58,29.42 C2.53732346,30.0007732 2.04187943,30.443134 1.46,30.42 C0.901094365,30.4156223 0.441619994,29.9780276 0.41,29.42 L0.41,1.95 C0.449349984,1.38861093 0.909606462,0.949468178 1.47222361,0.93650465 C2.03484076,0.923541121 2.51483504,1.34101911 2.58,1.9 L2.58,1.95 Z M6.19,1.95 L6.19,29.42 C6.2296472,29.8325035 6.03195189,30.231808 5.67986701,30.4503653 C5.32778212,30.6689226 4.88221788,30.6689226 4.53013299,30.4503653 C4.17804811,30.231808 3.9803528,29.8325035 4.02,29.42 L4.02,1.95 C3.9803528,1.53749648 4.17804811,1.138192 4.53013299,0.919634704 C4.88221788,0.701077408 5.32778212,0.701077408 5.67986701,0.919634704 C6.03195189,1.138192 6.2296472,1.53749648 6.19,1.95 Z M9.81,1.95 L9.81,29.42 C9.8496472,29.8325035 9.65195189,30.231808 9.29986701,30.4503653 C8.94778212,30.6689226 8.50221788,30.6689226 8.15013299,30.4503653 C7.79804811,30.231808 7.6003528,29.8325035 7.64,29.42 L7.64,1.95 C7.6003528,1.53749648 7.79804811,1.138192 8.15013299,0.919634704 C8.50221788,0.701077408 8.94778212,0.701077408 9.29986701,0.919634704 C9.65195189,1.138192 9.8496472,1.53749648 9.81,1.95 Z M13.42,1.95 L13.42,29.42 C13.3873113,29.9829764 12.9306072,30.4280683 12.3669758,30.44625 C11.8033444,30.4644316 11.318904,30.0496992 11.25,29.49 L11.25,1.95 C11.2826887,1.38702361 11.7393928,0.941931677 12.3030242,0.923750018 C12.8666556,0.905568359 13.351096,1.3203008 13.42,1.88 L13.42,1.95 Z M17.04,1.95 L17.04,29.42 C17.0513034,30.0199642 16.5796777,30.5182857 15.98,30.54 C15.401933,30.5576338 14.9125708,30.1167669 14.87,29.54 L14.87,1.95 C14.9026887,1.38702361 15.3593928,0.941931677 15.9230242,0.923750018 C16.4866556,0.905568359 16.971096,1.3203008 17.04,1.88 L17.04,1.95 Z" id="LM_top_lines"></path>
+                    </g>
+                </g>
+                <circle id="LM_detail_2" fill="#9A9A9A" fill-rule="nonzero" cx="50.32" cy="137.11" r="2.24"></circle>
+                <image id="Bitmap" opacity="0.3" style="mix-blend-mode: multiply;" x="44" y="0" width="38" height="38" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACcAAAAnCAYAAACMo1E1AAAAAXNSR0IArs4c6QAAAu1JREFUWAnNmD1y1EAQhb1bhJgjsMT8HAEuQGJHRJyOhAwCTmAyQqpMvOsbYDtGvE/Mm+oZaWUtaHfoqt75n/70WquSZtV13dkhtpKF+Y9V38gpbfeq7OSU2RTnsEBauZq7JkHVMIBdyiltgH2SU9oy8CGQs+AEdq4oALyQR5gaFpgMQiOZga/V3gnwzgNT5SRcUguw1/L3cuCAjGlcqV1bV3UYGLgP8q/yu4dUfFRtkpuVWoABCOgYTF6XKvUc1nFhT+VcGH6tGJMqjiqXwN5og6gWAZYwUkqareLV3jRr4Cy6FgHxVv5F/lP+S06alnT2ZG9iEOs8Mrheg5GOV/KPchYvCTS2FzGIRcw+iwajXKszGqo9T0792DYdz6SiYKLTeav62JUeo49Yo+nt06rBU6ezvkin9yUsFsxp5a99ynQqXGFkbSOHI9s6PWgZuJQ/k6NiCwOsAIzK+QHZAgxBLNAmCVb8W1spZjFQrhDIyrUGMyAcmQW4AbFnNigLFuByrlXP1A3AiB1Z+nuuoG0AFUMWLL7n4oSWdd77buSUvXJFB52NrFPcnTy/4qNc7GBCSyuEAq7oaEmWYmeBfM/ljsZwBYfhYCoGGkAOMmi4wcCJ4RAm3/t6ZeqFWqeKB7aa1EpBBIKDsreo3A/14LM+eP8sX+zXX2QZrN/Zb51q/J+v6QHwiSDfyb/Lj/FJyC0Tfe/3A0xOq9b0hrynSi8Xv5X3xxOCGdxOBZwmcFV5ger+ClN1UQOEL/5vqRyAEW1wVsIV6DX5ikEZNyhnHBs59+S/GhcPCAc5KAbgNomiammjZyVMSeclQAEXD3L6YX4OMKD8qPAZyYMnTQPlHDApyEY3aWM2B5Z3LpeqZlulGiDRIhRvHOy5Y/84aay+V7k4OahoMD4jAbS5n3bxIE3tDKX2/b40sjjaLDgW+HNNVYNQ2gC9SI3PKgG0WbnZUF44G84LKAOouw1Mu1aOI4861V43Wf4V3OSOCw7+BmjmA7QisxQnAAAAAElFTkSuQmCC"></image>
+                <circle id="LM_detail_1" fill="#9A9A9A" fill-rule="nonzero" cx="21.66" cy="86.59" r="2.24"></circle>
+                <g id="hole" transform="translate(45.000000, 1.000000)" fill-rule="nonzero">
+                    <g id="Group" fill="#D42715">
+                        <circle id="LM_red-2" cx="17.96" cy="17.95" r="17.06"></circle>
+                    </g>
+                    <g id="LM_details_in_red" transform="translate(2.000000, 2.000000)">
+                        <circle id="LM_detail_red_hole4" fill="#393939" cx="12.9" cy="27.01" r="3.79"></circle>
+                        <circle id="LM_detail_red_hole3" fill="#393939" cx="4.75" cy="12.89" r="3.79"></circle>
+                        <circle id="LM_detail_red_hole2" fill="#393939" cx="18.87" cy="4.74" r="3.79"></circle>
+                        <circle id="LM_detail_red_hole1" fill="#393939" cx="27.02" cy="18.86" r="3.79"></circle>
+                        <path d="M18.18,15.31 C17.9816076,15.2705154 17.8089761,15.149396 17.7043432,14.9762761 C17.5997103,14.8031562 17.5727287,14.5940066 17.63,14.4 C17.84,13.68 17.99,13.07 17.99,13.07 C17.99,13.07 17.82,12.72 16.72,12.43 C15.62,12.14 15.37,12.37 15.37,12.37 L14.98,13.7 C14.98,13.7 14.82,14.42 14.17,14.24 L12.98,13.9 C12.98,13.9 12.58,14.03 12.38,14.96 C12.2599627,15.4271881 12.2395203,15.9143986 12.32,16.39 L13.57,16.72 C13.9132251,16.8260991 14.1147049,17.1808788 14.03,17.53 C13.87,18.14 13.7,18.74 13.7,18.74 C13.7,18.74 13.82,19.04 14.9,19.36 C15.98,19.68 16.32,19.45 16.32,19.45 L16.64,18.23 C16.64,18.23 16.9,17.47 17.64,17.64 C18.04,17.7533333 18.44,17.8833333 18.84,18.03 C19.3790257,17.4116231 19.6330766,16.5950309 19.54,15.78 C18.89,15.55 18.18,15.31 18.18,15.31 Z" id="LM_detail_hole" fill="#1F1F1F"></path>
+                        <path d="M15.62,23.13 L14.07,22.9 L12.54,22.33 C12.29437,22.2663058 12.1467122,22.015735 12.21,21.77 L12.76,19.72 C12.8281001,19.4784149 13.0772913,19.3360199 13.32,19.4 L14.77,20 L16.4,20.22 C16.64563,20.2836942 16.7932878,20.534265 16.73,20.78 L16.18,22.83 C16.1519467,22.9468655 16.0773095,23.0471692 15.9734274,23.1076097 C15.8695454,23.1680501 15.7454609,23.1833663 15.63,23.15 L15.62,23.13 Z" id="LM_detail_red4" fill="#393939"></path>
+                        <path d="M23.13,16.2 L22.87,17.75 L22.3,19.27 C22.2716803,19.3872072 22.1975067,19.4881458 22.0941102,19.5501837 C21.9907137,19.6122216 21.8667451,19.6301684 21.75,19.6 L19.69,19.05 C19.4484149,18.9818999 19.3060199,18.7327087 19.37,18.49 L19.98,17.05 L20.2,15.42 C20.2283197,15.3027928 20.3024933,15.2018542 20.4058898,15.1398163 C20.5092863,15.0777784 20.6332549,15.0598316 20.75,15.09 L22.75,15.64 C22.9915851,15.7081001 23.1339801,15.9572913 23.07,16.2 L23.13,16.2 Z" id="LM_detail_red3" fill="#393939"></path>
+                        <path d="M16.19,8.69 L17.74,8.94 L19.27,9.51 C19.5107539,9.57376787 19.6570302,9.81756168 19.6,10.06 L19.05,12.11 C18.9818999,12.3515851 18.7327087,12.4939801 18.49,12.43 L17.04,11.83 L15.41,11.61 C15.167847,11.5417439 15.0223875,11.2949036 15.08,11.05 L15.63,9 C15.6580533,8.88313454 15.7326905,8.78283079 15.8365726,8.72239033 C15.9404546,8.66194987 16.0645391,8.64663373 16.18,8.68 L16.19,8.69 Z" id="LM_detail_red2" fill="#393939"></path>
+                        <path d="M8.68,15.62 L8.98,14.07 L9.55,12.55 C9.57831973,12.4327928 9.65249325,12.3318542 9.75588978,12.2698163 C9.85928631,12.2077784 9.98325491,12.1898316 10.1,12.22 L12.16,12.77 C12.4015851,12.8381001 12.5439801,13.0872913 12.48,13.33 L11.87,14.77 L11.65,16.4 C11.6216803,16.5172072 11.5475067,16.6181458 11.4441102,16.6801837 C11.3407137,16.7422216 11.2167451,16.7601684 11.1,16.73 L9.1,16.18 C8.85841494,16.1118999 8.71601994,15.8627087 8.78,15.62 L8.68,15.62 Z" id="LM_detail_red1" fill="#393939"></path>
+                    </g>
                 </g>
-              </g>
             </g>
-            <circle id="LM_detail_2" data-name="LM detail 2" cx="50.32" cy="137.11" r="2.24" style="fill: #9a9a9a"/>
-            <circle id="LM_detail_1" data-name="LM detail 1" cx="21.66" cy="86.59" r="2.24" style="fill: #9a9a9a"/>
-            <g id="hole">
-              <g>
-                <image width="38" height="38" transform="translate(44)" xlink:href="data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAACcAAAAnCAYAAACMo1E1AAAACXBIWXMAAAsSAAALEgHS3X78AAACRklEQVRYR9WYPXLbMBBGHzgpxRwhTJ3ER0gukMauUvl0btIlhU9gdSkzQ9dWbmBTtTYFdiUA/BGh0ILyzWBAUiTx+C0JYdeJCDlyzrlgdwU02pu2wEb7vSR3IMDNvUahUpgGuNHetAF+aG/aA+dAzoJzztV4gI/EMHOdM+AW2IhIxwxNwqlbNfAZuMXDpTBhmE3pTQ24Be6ANdAdc/HN2A+JW7d4wJphmFTpOTX+Pu/wD7YCWufcpIuDzinYF2K36t6Jp6kjdvFhFFBEooaH+ArcA8/ADh+mJdtO732vY9Uph4iQgjngCviuFx8b5F/bs451hUYxbBWxauCDtqXCOKXp8UbC+cLxp16qvTAS3lLhTJuF9xNBeC2sK84bzlQ2bYXzJ5VOtA1+5n/PvHnsNdT7twmdswmyhEKDGltchF9rKcdMPYMMrjSYyRGwVJQPaaiIpSJek5V0MHrv4D9w7pK0Bf5oT5UeKCghWeJXyQEZvfQ8uljnTHuD7J0r7Zgp4gg/iNKAvQgaXOnQRh+DZWWVbtgPT5RzsJfvhs49apuV8C4sy8jiyF38Mj0AfAt8A37zOinhbLCh7KvjfOHd4d/xO2AtA4l1BKcfx/4CDuFdWh0+4/+l/aARvVqJiHTOuQfd3bJsOULwIGu8AS3wZFNHqtEq00QhB/LXfcIJlabRKpM62HKYnLccsiPrQxlwOlgIlVWjyy0eGlhazbTjcKRwSEZ1cxYcRLXgIeca4Fq3f7JAyRUy4EIlRWuYdo5cKNNJcOfSX2jmA7RYwAeRAAAAAElFTkSuQmCC" style="opacity: 0.30000000000000004;mix-blend-mode: multiply"/>
-                <circle id="LM_red-2" data-name="LM red-2" cx="62.96" cy="18.95" r="17.06" style="fill: #d42715"/>
-              </g>
-              <g id="LM_details_in_red" data-name="LM details in red">
-                <circle id="LM_detail_red_hole4" data-name="LM detail red hole4" cx="59.9" cy="30.01" r="3.79" style="fill: #393939"/>
-                <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);
         }
 

targetconfig.json

@@ -9,6 +9,7 @@
     },
     "galleries": {
         "Maker Activities": "maker",
-        "Coding Activites": "coding"
+        "Coding Activites": "coding",
+        "Lessons": "lessons"
     }
 }

theme/blockly.less

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