0.0.63

bump pxt-common-packages to 0.15.5,
motor slider fixes and fix motor output in vm
2018-01-12 13:33:45 -08:00 · 2018-01-12 13:33:40 -08:00 · 2018-01-12 13:33:25 -08:00 · 2018-01-12 13:04:45 -08:00 · 2018-01-11 22:56:34 -08:00 · 2018-01-11 22:53:28 -08:00
38 changed files with 996 additions and 156 deletions
--- a/docs/static/avatar.svg
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+	<path id="Path_206" class="st0" d="M5327-8135.8c0,0.1,0,0.2,0,0.4c0.1,0.5,0.3,0.9,0.7,1.1c0.1,0.1,0.3,0.1,0.4,0.2l0,0
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+	<path id="Path_207" class="st0" d="M5329-8134.4c-0.1,0.1-0.2,0.2-0.3,0.4c0,0,0,0,0,0.1c0,0.1,0,0.1,0.1,0.1c0.1,0,0.2,0,0.3-0.1
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+</g>
+</svg>
--- a/libs/core/_locales/core-jsdoc-strings.json
+++ b/libs/core/_locales/core-jsdoc-strings.json
@ -1,4 +1,5 @@
 {
+  "BrickLight": "Patterns for lights under the buttons.",
  "ButtonEvent": "User interaction on buttons",
  "Draw": "Drawing modes",
  "Image.buffer": "Returns the underlaying Buffer object.",
@ -6,14 +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",
@ -61,6 +61,8 @@
  "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",
--- a/libs/core/_locales/core-strings.json
+++ b/libs/core/_locales/core-strings.json
@ -1,17 +1,17 @@
 {
+  "BrickLight.GreenFlash|block": "green flash",
+  "BrickLight.GreenPulse|block": "green pulse",
+  "BrickLight.Green|block": "green",
+  "BrickLight.Off|block": "off",
+  "BrickLight.OrangeFlash|block": "orange flash",
+  "BrickLight.OrangePulse|block": "orange pulse",
+  "BrickLight.Orange|block": "orange",
+  "BrickLight.RedFlash|block": "red flash",
+  "BrickLight.RedPulse|block": "red pulse",
+  "BrickLight.Red|block": "red",
  "ButtonEvent.Click|block": "click",
  "ButtonEvent.Down|block": "down",
  "ButtonEvent.Up|block": "up",
-  "LightsPattern.GreenFlash|block": "Flashing Green",
-  "LightsPattern.GreenPulse|block": "Pulsing Green",
-  "LightsPattern.Green|block": "Green",
-  "LightsPattern.Off|block": "Off",
-  "LightsPattern.OrangeFlash|block": "Flashing Orange",
-  "LightsPattern.OrangePulse|block": "Pulsing Orange",
-  "LightsPattern.Orange|block": "Orange",
-  "LightsPattern.RedFlash|block": "Flashing Red",
-  "LightsPattern.RedPulse|block": "Pulsing Red",
-  "LightsPattern.Red|block": "Red",
  "MoveUnit.Degrees|block": "degrees",
  "MoveUnit.MilliSeconds|block": "milliseconds",
  "MoveUnit.Rotations|block": "rotations",
@ -30,15 +30,14 @@
  "brick.Button.pauseUntil|block": "pause until %button|%event",
  "brick.Button.wasPressed|block": "%button|was pressed",
  "brick.batteryLevel|block": "battery level",
-  "brick.buttonDown|block": "down",
-  "brick.buttonEnter|block": "enter",
-  "brick.buttonLeft|block": "left",
-  "brick.buttonRight|block": "right",
-  "brick.buttonUp|block": "up",
+  "brick.buttonDown|block": "button down",
+  "brick.buttonEnter|block": "button enter",
+  "brick.buttonLeft|block": "button left",
+  "brick.buttonRight|block": "button right",
+  "brick.buttonUp|block": "button up",
  "brick.clearScreen|block": "clear screen",
-  "brick.lightPattern|block": "%pattern",
  "brick.printPorts|block": "print ports",
-  "brick.setLight|block": "set light to %pattern=led_pattern",
+  "brick.setLight|block": "set light to %pattern",
  "brick.showImage|block": "show image %image=screen_image_picker",
  "brick.showNumber|block": "show number %name|at line %line",
  "brick.showString|block": "show string %text|at line %line",
@ -52,9 +51,11 @@
  "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 +92,6 @@
  "{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",
--- a/libs/core/buttons.ts
+++ b/libs/core/buttons.ts
@ -2,35 +2,35 @@
 /**
 * Patterns for lights under the buttons.
 */
-const enum LightsPattern {
-    //% block=Off enumval=0
+const enum BrickLight {
+    //% block=off enumval=0
    //% blockIdentity=brick.lightPattern
    Off = 0,
-    //% block=Green enumval=1
+    //% block=green enumval=1
    //% blockIdentity=brick.lightPattern
    Green = 1,
-    //% block=Red enumval=2
+    //% block=red enumval=2
    //% blockIdentity=brick.lightPattern
    Red = 2,
-    //% block=Orange enumval=3
+    //% block=orange enumval=3
    //% blockIdentity=brick.lightPattern
    Orange = 3,
-    //% block="Flashing Green" enumval=4
+    //% block="green flash" enumval=4
    //% blockIdentity=brick.lightPattern
    GreenFlash = 4,
-    //% block="Flashing Red" enumval=5
+    //% block="red flash" enumval=5
    //% blockIdentity=brick.lightPattern
    RedFlash = 5,
-    //% block="Flashing Orange" enumval=6
+    //% block="orange flash" enumval=6
    //% blockIdentity=brick.lightPattern
    OrangeFlash = 6,
-    //% block="Pulsing Green" enumval=7
+    //% block="green pulse" enumval=7
    //% blockIdentity=brick.lightPattern
    GreenPulse = 7,
-    //% block="Pulsing Red" enumval=8
+    //% block="red pulse" enumval=8
    //% blockIdentity=brick.lightPattern
    RedPulse = 8,
-    //% block="Pulsing Orange" enumval=9
+    //% block="orange pulse" enumval=9
    //% blockIdentity=brick.lightPattern
    OrangePulse = 9,
 }
@ -170,6 +170,7 @@ namespace brick {
        // this needs to be done in query(), which is run without the main JS execution mutex
        // otherwise, while(true){} will lock the device
        if (ret & DAL.BUTTON_ID_ESCAPE) {
+            motors.stopAllMotors(); // ensuring that all motors are off
            control.reset()
        }
        return ret
@ -203,31 +204,31 @@ namespace brick {
    /**
     * Enter button on the EV3 Brick.
     */
-    //% whenUsed block="enter" weight=95 fixedInstance
+    //% whenUsed block="button enter" weight=95 fixedInstance
    export const buttonEnter: Button = new DevButton(DAL.BUTTON_ID_ENTER)

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

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

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

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

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

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

    /**
     * Set lights.
-     * @param pattern the lights pattern to use.
+     * @param pattern the lights pattern to use. eg: BrickLight.Orange
     */
-    //% blockId=setLights block="set light to %pattern=led_pattern"
+    //% blockId=setLights block="set light to %pattern"
    //% weight=100 group="Buttons"
-    export function setLight(pattern: number): void {
+    export function setLight(pattern: BrickLight): void {
        if (currPattern === pattern)
            return
-        currPattern = pattern
-        let cmd = output.createBuffer(2)
+        currPattern = pattern;
+        const cmd = output.createBuffer(2)
        cmd[0] = pattern + 48
        brick.internal.getBtnsMM().write(cmd)
    }
-
-
-    /**
-     * Pattern block.
-     * @param pattern the lights pattern to use. eg: LightsPattern.Green
-     */
-    //% blockId=led_pattern block="%pattern"
-    //% shim=TD_ID colorSecondary="#6e9a36" group="Light"
-    //% blockHidden=true useEnumVal=1 pattern.fieldOptions.decompileLiterals=1
-    export function lightPattern(pattern: LightsPattern): number {
-        return pattern;
-    }
 }
--- a/libs/core/enums.d.ts
+++ b/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
     */
--- a/libs/core/input.ts
+++ b/libs/core/input.ts
@ -93,7 +93,7 @@ namespace sensors.internal {
        init();
        return {
            temp: analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryTemp),
-            current: analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryCurrent)
+            current: Math.round(analogMM.getNumber(NumberFormat.Int16LE, AnalogOff.BatteryCurrent) / 10)
        }
    }

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

-        protected reset() {
+        reset() {
            if (this.isActive()) uartReset(this._port);
        }
    }
--- a/libs/core/mmap.cpp
+++ b/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);
+}
+
 }
--- a/libs/core/output.ts
+++ b/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);
@ -280,10 +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();
        }

@ -299,7 +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) {
@ -313,11 +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
--- a/libs/core/shims.d.ts
+++ b/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 {

--- a/libs/core/test.ts
+++ b/libs/core/test.ts
@ -2,7 +2,7 @@ screen.clear()
 brick.print("PXT!", 10, 30, Draw.Quad)

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

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

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

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

--- a/libs/datalog/README.md
+++ b/libs/datalog/README.md
@ -0,0 +1,3 @@
+# Datalog
+
+A tiny libraty to create CSV datalog files.
--- a/libs/datalog/_locales/datalog-jsdoc-strings.json
+++ b/libs/datalog/_locales/datalog-jsdoc-strings.json
@ -0,0 +1,8 @@
+{
+  "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.setFile": "Starts a new data logger for the given file",
+  "datalog.setStorage": "* @param storage custom storage solution"
+}
--- a/libs/datalog/_locales/datalog-strings.json
+++ b/libs/datalog/_locales/datalog-strings.json
@ -0,0 +1,6 @@
+{
+  "datalog.addRow|block": "datalog add row",
+  "datalog.addValue|block": "datalog add %name|=%value",
+  "datalog|block": "datalog",
+  "{id:category}Datalog": "Datalog"
+}
--- a/libs/datalog/datalog.ts
+++ b/libs/datalog/datalog.ts
@ -0,0 +1,90 @@
+//% weight=100 color=#0fbc11 icon=""
+namespace datalog {
+    let _headers: string[] = undefined;
+    let _headersLength: number;
+    let _values: number[];
+    let _start: number;
+    let _filename = "data.csv";
+    let _storage: storage.Storage = storage.temporary;
+
+    function clear() {
+        _headers = undefined;        
+        _values = undefined;
+    }
+
+    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
+            _storage.appendCSV(_filename, _values);
+        }
+
+        // clear values
+        _values = undefined;
+    }
+
+    /**
+     * Starts a row of data
+     */
+    //% weight=100
+    //% blockId=datalogAddRow block="datalog add row"
+    export function addRow(): void {
+        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;
+        if (i > 0) // 0 is time
+            console.logValue(name, value)
+    }
+
+    /**
+     * Starts a new data logger for the given file
+     */
+    //%
+    export function setFile(fn: string) {
+        _filename = fn;
+        clear();
+    }
+
+    /**
+     * 
+     * @param storage custom storage solution
+     */
+    //%
+    export function setStorage(storage: storage.Storage) {
+        _storage = storage;
+        clear();
+    }
+}
--- a/libs/datalog/pxt.json
+++ b/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"
+    }
+}
--- a/libs/datalog/test.ts
+++ b/libs/datalog/test.ts
@ -0,0 +1,6 @@
+
+loops.forever(function () {
+    datalog.addRow()
+    datalog.addValue("x", Math.random())
+    datalog.addValue("y", Math.random())
+})
--- a/libs/ev3/ns.ts
+++ b/libs/ev3/ns.ts
@ -56,4 +56,9 @@ namespace loops {
 //% color="#1E5AA8"
 namespace light {

+}
+
+//% color="#b0b0b0" advanced=true weight=5
+namespace storage {
+
 }
--- a/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json
+++ b/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json
@ -1,5 +1,5 @@
 {
  "sensors.GyroSensor.angle": "Get the current angle from the gyroscope.",
-  "sensors.GyroSensor.calibrate": "Forces a calibration of the gyro. Must be called when the sensor is completely still.",
-  "sensors.GyroSensor.rotationRate": "Get the current rotation rate from the gyroscope."
+  "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
+  "sensors.GyroSensor.reset": "Forces a calibration of the gyro. Must be called when the sensor is completely still."
 }
--- a/libs/gyro-sensor/_locales/gyro-sensor-strings.json
+++ b/libs/gyro-sensor/_locales/gyro-sensor-strings.json
@ -1,7 +1,7 @@
 {
  "sensors.GyroSensor.angle|block": "%sensor|angle",
-  "sensors.GyroSensor.calibrate|block": "%sensor|calibrate",
-  "sensors.GyroSensor.rotationRate|block": "%sensor|rotation rate",
+  "sensors.GyroSensor.rate|block": "%sensor|rate",
+  "sensors.GyroSensor.reset|block": "%sensor|reset",
  "sensors.gyro1|block": "gyro 1",
  "sensors.gyro2|block": "gyro 2",
  "sensors.gyro3|block": "gyro 3",
--- a/libs/gyro-sensor/gyro.ts
+++ b/libs/gyro-sensor/gyro.ts
@ -45,15 +45,15 @@ namespace sensors {
         * Get the current rotation rate from the gyroscope.
         * @param sensor the gyroscope to query the request
         */
-        //% help=input/gyro/rotation-rate
-        //% block="%sensor|rotation rate"
+        //% help=input/gyro/rate
+        //% block="%sensor|rate"
        //% blockId=gyroGetRate
        //% parts="gyroscope"
        //% blockNamespace=sensors
        //% sensor.fieldEditor="ports"
        //% weight=65 blockGap=8        
        //% group="Gyro Sensor"
-        rotationRate(): number {
+        rate(): number {
            if (this.calibrating)
                pauseUntil(() => !this.calibrating, 2000);

@ -65,21 +65,21 @@ namespace sensors {
         * Forces a calibration of the gyro. Must be called when the sensor is completely still.
         */
        //% help=input/gyro/calibrate
-        //% block="%sensor|calibrate"
-        //% blockId=gyroCalibrate   
+        //% block="%sensor|reset"
+        //% blockId=gyroReset  
        //% parts="gyroscope"
        //% blockNamespace=sensors
        //% sensor.fieldEditor="ports"
        //% weight=50 blockGap=8        
        //% group="Gyro Sensor"
-        calibrate(): void {
+        reset(): void {
            if (this.calibrating) return; // already in calibration mode

            this.calibrating = true;
            // may be triggered by a button click, give time to settle
            loops.pause(500);
            // send a reset command
-            this.reset();
+            super.reset();
            // we need to switch mode twice to perform a calibration
            if (this.mode == GyroSensorMode.Rate)
                this.setMode(GyroSensorMode.Angle);
@ -90,7 +90,9 @@ namespace sensors {
                this.setMode(GyroSensorMode.Angle);
            else
                this.setMode(GyroSensorMode.Rate);
-            this.calibrating = false;
+            // give it more time to settle
+            loops.pause(500);
+            this.calibrating = false;            
        }
    }

--- a/libs/storage/_locales/storage-jsdoc-strings.json
+++ b/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."
+}
--- a/libs/storage/_locales/storage-strings.json
+++ b/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"
+}
--- a/libs/storage/pxt.json
+++ b/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"
+    }
+}
--- a/libs/storage/shims.d.ts
+++ b/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.
--- a/libs/storage/storage-core.ts
+++ b/libs/storage/storage-core.ts
@ -0,0 +1,197 @@
+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 = ""
+            for (const d of data) {
+                if (s) s += this.csvSeparator;
+                s = s + d;
+            }
+            s += "\r\n"
+            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);
+            }
+        }
+    }
+
+    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;
+        }
+    }
+}
--- a/libs/storage/storage.cpp
+++ b/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
--- a/libs/storage/storage.ts
+++ b/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);
+    })    
+}
--- a/package-lock.json
+++ b/package-lock.json
@ -1,6 +1,6 @@
 {
  "name": "pxt-ev3",
-  "version": "0.0.59",
+  "version": "0.0.63",
  "lockfileVersion": 1,
  "requires": true,
  "dependencies": {
--- a/package.json
+++ b/package.json
@ -1,6 +1,6 @@
 {
  "name": "pxt-ev3",
-  "version": "0.0.59",
+  "version": "0.0.63",
  "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": "3.0.8"
+    "pxt-common-packages": "0.15.5",
+    "pxt-core": "3.0.11"
  },
  "scripts": {
    "test": "node node_modules/pxt-core/built/pxt.js travis"
--- a/pxtarget.json
+++ b/pxtarget.json
@ -17,6 +17,8 @@
        "libs/gyro-sensor",
        "libs/chassis",
        "libs/ev3",
+        "libs/storage",
+        "libs/datalog",
        "libs/tests",
        "libs/behaviors"
    ],
--- a/sim/state/analog.ts
+++ b/sim/state/analog.ts
@ -30,8 +30,8 @@ namespace pxsim {
                data,
                beforeMemRead: () => {
                    //console.log("analog before read");
-                    data[AnalogOff.BatteryTemp] = 21; // TODO simulate this
-                    data[AnalogOff.BatteryCurrent] = 100; // TODO simulate this
+                    util.map16Bit(data, AnalogOff.BatteryTemp, 21);
+                    util.map16Bit(data, AnalogOff.BatteryCurrent, 900);
                    const inputNodes = ev3board().getInputNodes();
                    for (let port = 0; port < DAL.NUM_INPUTS; port++) {
                        const node = inputNodes[port];
--- a/sim/state/control.ts
+++ b/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 {
--- a/sim/state/motornode.ts
+++ b/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;
@ -96,6 +98,17 @@ 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 +122,84 @@ 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
--- a/sim/state/output.ts
+++ b/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];
--- a/sim/state/storage.ts
+++ b/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
+    }
+}
--- a/sim/visuals/board.ts
+++ b/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;
                }
            }
--- a/sim/visuals/controls/distanceSlider.ts
+++ b/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;
--- a/sim/visuals/controls/motorSlider.ts
+++ b/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;
+        }
+    }
+
+}
Author	SHA1	Message	Date
Sam El-Husseini	d0aa68aeee	0.0.63	2018-01-12 13:33:45 -08:00
Sam El-Husseini	51731fbbc9	bump pxt-common-packages to 0.15.5,	2018-01-12 13:33:40 -08:00
Sam El-Husseini	751ea1494b	motor slider fixes and fix motor output in vm	2018-01-12 13:33:25 -08:00
Sam El-Husseini	dfe84471e8	Merge pull request #144 from Microsoft/motorslider Add motor slider control	2018-01-12 13:04:45 -08:00
Peli de Halleux	0f3de6cf07	0.0.62	2018-01-11 22:56:34 -08:00
Peli de Halleux	21195e4abf	Datalog (#233 ) * support for custom csv separator * simple datalog frameowrk * api strings * hide setfile * storage fixes * log seconds, not milliseconds	2018-01-11 22:53:28 -08:00
Peli de Halleux	c992100a38	added option to append CSV headers	2018-01-11 21:36:43 -08:00
Michał Moskal	20a4673f98	First draft of storage APIs (#122 ) * First draft of storage APIs * bumped pxt-core * using fixed instances to seprate temp from permanent * send console to storage * sim support * missing sim stubs * adding storage blocks * more sim support * remove storage from default package * fix rendering of ms * render raw ms * slize at better place * duplicate bundled dir * refactor limit * simplify limit logic	2018-01-11 20:05:45 -08:00
Peli de Halleux	966fd81870	0.0.61	2018-01-11 14:08:14 -08:00
Peli de Halleux	cb9d2aeb39	bumping pxt dependency	2018-01-11 14:08:01 -08:00
Peli de Halleux	3cee55f4c2	0.0.60	2018-01-11 13:43:41 -08:00
Peli de Halleux	3815d2fd3b	simplifiying brick light api (#231 )	2018-01-11 13:43:11 -08:00
Peli de Halleux	1453b7e0a3	gyro reset fix	2018-01-11 11:17:23 -08:00
Peli de Halleux	6fb5c54280	fix build break	2018-01-11 08:55:31 -08:00
Peli de Halleux	9d5ca35e83	fix battery encoding	2018-01-11 08:47:09 -08:00
Peli de Halleux	893dd0f9c4	rename "enter..." to "button enter"	2018-01-11 08:28:25 -08:00
Peli de Halleux	c3419c0b74	support for unregulated motors (#227 )	2018-01-10 23:34:27 -08:00
Peli de Halleux	a4164470d8	updated api to align with labview	2018-01-10 22:29:35 -08:00
Peli de Halleux	0dd5ab9bde	appliying manual speed	2018-01-10 14:08:50 -08:00
Sam El-Husseini	e93e659e8a	nit: remove unnecessary comment	2018-01-10 13:51:35 -08:00
Sam El-Husseini	8357372fb5	Update to make it more like a crank	2018-01-10 13:47:39 -08:00
Sam El-Husseini	54cb076002	Merge pull request #226 from Microsoft/legoavatar Add lego avatar	2018-01-10 13:03:15 -08:00
Sam El-Husseini	dbd3eb464b	Add lego avatar	2018-01-10 12:59:53 -08:00
Sam El-Husseini	10cd39a4ec	Merge branch 'master' into motorslider	2018-01-10 12:52:51 -08:00
Sam El-Husseini	aa8635c4e7	Always use the motor slider control	2018-01-10 10:00:48 -08:00
Sam El-Husseini	4e4f5495da	Merge branch 'master' into motorslider	2018-01-10 09:56:59 -08:00
Sam El-Husseini	16b9a5027d	Add rotate icons	2017-12-29 11:39:06 -08:00
Sam El-Husseini	cbe68b3199	Add motor slider control	2017-12-28 13:23:30 -08:00