0.0.93

* screenshots

* more screenshots

* added pics

* more writup

* more examples

.gitignore

@@ -16,6 +16,9 @@ clients/win10/*.opendb
 clients/**/bin/**
 clients/**/obj/**
 clients/electron/projects
+libs/**/_locales/**
+libs/**/shims.d.ts
+libs/**/enums.d.ts
 
 videos/**
 

docs/SUMMARY.md

@@ -1,5 +1,70 @@
 # @extends
 
+## Projects #projects
+
+* [Maker](/maker)
+    * [Sound Machine](/maker/sound-machine)
+    * [Sound of Color](/maker/sound-of-color)
+    * [Security Gadget](/maker/security-gadget)
+    * [Intruder detector](/maker/intruder-detector)
+    * [Puppet](/maker/puppet)
+
+* [Coding](/coding)
+    * [Three Point Turn 1](/coding/three-point-turn-1)
+    * [Three Point Turn 2](/coding/three-point-turn-2)
+    * [Three Point Turn 3](/coding/three-point-turn-3)
+    * [Reversing the robot 1](/coding/reversing-the-robot-1)
+    * [Reversing the robot 2](/coding/reversing-the-robot-2)
+    * [Reversing the robot 3](/coding/reversing-the-robot-3)
+    * [Light the way 1](/coding/light-the-way-1)
+    * [Light the way 2](/coding/light-the-way-2)
+    * [Light the way 3](/coding/light-the-way-3)
+    * [Traffic Lights 1](/coding/traffic-lights-1)
+    * [Traffic Lights 2](/coding/traffic-lights-2)
+    * [Traffic Lights 3](/coding/traffic-lights-3)
+    * [Reverse Beeper 1](/coding/reverse-beeper-1)
+    * [Reverse Beeper 2](/coding/reverse-beeper-2)
+    * [Reverse Beeper 3](/coding/reverse-beeper-3)
+    * [Ignition 1](/coding/ignition-1)
+    * [Ignition 2](/coding/ignition-2)
+    * [Ignition 3](/coding/ignition-3)
+    * [Cruise Control 1](/coding/cruise-control-1)
+    * [Cruise Control 2](/coding/cruise-control-2)
+    * [Cruise Control 3](/coding/cruise-control-3)
+    * [Roaming 1](/coding/roaming-1)
+    * [Roaming 2](/coding/roaming-2)
+
+* [Lessons](/lessons)
+    * [Make it move](/lessons/make-it-move)
+    * [Line detection](/lessons/line-detection)
+
 ## Reference #reference
 
 * [Reference](/reference)
+    * [Brick](/reference/brick)
+        * [show string](/reference/brick/show-string)
+        * [show number](/reference/brick/show-number)
+        * [show value](/reference/brick/show-value)
+        * [show mood](/reference/brick/show-mood)
+        * [show image](/reference/brick/show-image)
+        * [clear screen](/reference/brick/clear-screen)
+        * [on event](/reference/brick/button/on-event)
+        * [is pressed](/reference/brick/button/is-pressed)
+        * [was pressed](/reference/brick/button/was-pressed)
+        * [pause until](/reference/brick/button/pause-until)
+        * [set light](/reference/brick/set-status-light)
+        * [battery level](/reference/brick/battery-level)
+    * [Motors](/reference/motors)
+        * [set speed](/reference/motors/motor/set-speed)
+        * [stop](/reference/motors/motor/stop)
+        * [reset](/reference/motors/motor/reset)
+        * [set brake](/reference/motors/motor/set-brake)
+        * [set inverted](/reference/motors/motor/set-inverted)
+        * [set regulated](/reference/motors/motor/set-regulated)
+        * [tank](/reference/motors/synced/tank)
+        * [steer](/reference/motors/synced/steer)
+        * [tacho](/reference/motors/motor/tacho)
+        * [angle](/reference/motors/motor/angle)
+        * [speed](/reference/motors/motor/speed)
+        * [clear counts](/reference/motors/motor/clear-counts)
+        * [stop all motors](/reference/motors/stop-all-motors)

docs/about.md

@@ -6,26 +6,26 @@ Welcome to the **Microsoft MakeCode** editor for the **@boardname@**!
 
 You can program the @boardname@ using [Blocks](/blocks) or [JavaScript](/javascript) in your web browser:
 
-```block
-input.buttonA.onEvent(ButtonEvent.Click, () => {
-    light.showRing(`blue blue blue blue blue blue blue blue blue blue`)
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, () => {
+    motors.largeA.setSpeed(50)
 })
 ```
 ```typescript
-input.buttonA.onEvent(ButtonEvent.Click, () => {
-    light.showRing(`blue blue blue blue blue blue blue blue blue blue`)
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, () => {
+    motors.largeA.setSpeed(50)
 })
 ```
 
 The editor work in [most modern browsers](/browsers), work [offline](/offline) once loaded and do not require any installation. 
 
-## [Compile and Flash: Your Program!](/device/usb)
+## Compile and Flash: Your Program!
 
 When you have your code ready, you connect your @boardname@ to a computer via a USB cable 
-**then press the reset button** so it appears as a mounted drive (named **CPLAYBOOT**). 
+so it appears as a mounted drive (named **EV3**). 
 
 Compilation to machine code from [Blocks](/blocks) or [JavaScript](/javascript) happens in the browser. You save the binary 
-program to a **.uf2** file, which you then copy to the **CPLAYBOOT** drive, which flashes the device with the new program.
+program to a **.uf2** file, which you then copy to the **EV3** drive, which flashes the device with the new program.
 
 ## Simulator: Test Your Code
 
@@ -33,11 +33,7 @@ You can run your code using the micro:bit simulator, all within the confines of
 The simulator has support for the LED screen, buttons, as well as compass, accelerometer, and digital I/O pins.
 
 ```sim
-loops.forever(() => {
-    light.pixels.showAnimation(light.animation(LightAnimation.Rainbow), 1000)
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, () => {
+    motors.largeA.setSpeed(50)
 })
 ```
-
-```package
-light
-```

docs/coding/cruise-control-1.md

@@ -2,7 +2,7 @@
 
 ```blocks
 let speed = 0;
-sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+sensors.touch1.onEvent(ButtonEvent.Pressed, function () {
     if (speed < 100)
         speed = speed + 10;
     motors.largeBC.setSpeed(speed);

docs/coding/cruise-control-2.md

@@ -2,12 +2,12 @@
 
 ```blocks
 let speed = 0;
-sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+sensors.touch1.onEvent(ButtonEvent.Pressed, function () {
     if (speed < 100)
         speed = speed + 10;
     motors.largeBC.setSpeed(speed);
 }) 
-sensors.touch2.onEvent(TouchSensorEvent.Pressed, function () {
+sensors.touch2.onEvent(ButtonEvent.Pressed, function () {
     if (speed > -100)
         speed = speed - 10;
     motors.largeBC.setSpeed(speed);

docs/coding/cruise-control-3.md

@@ -17,11 +17,11 @@ function update() {
     brick.showString("speed: " + speed, 1)
     motors.largeBC.setSpeed(speed)
 }
-sensors.touch2.onEvent(TouchSensorEvent.Pressed, function () {
+sensors.touch2.onEvent(ButtonEvent.Pressed, function () {
     accelerate()
     update()
 })
-sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+sensors.touch1.onEvent(ButtonEvent.Pressed, function () {
     decelerate()
     update()
 })

docs/coding/ignition-1.md

@@ -1,7 +1,7 @@
 # Ignition Activity 1
 
 ```blocks
-sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+sensors.touch1.onEvent(ButtonEvent.Pressed, function () {
     brick.showImage(images.eyesDizzy)
 })
 sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjectDetected, function () {

docs/coding/light-the-way-3.md

@@ -7,7 +7,7 @@ sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Bright,
 sensors.color3.onLightChanged(LightIntensityMode.Ambient, LightCondition.Dark, function () {
     brick.showImage(images.objectsLightOn)
 })
-sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
+sensors.touch1.onEvent(ButtonEvent.Pressed, function () {
     brick.showImage(images.objectsLightOn);
 })
 ```

docs/coding/reverse-beeper-3.md

@@ -3,13 +3,13 @@
 ```blocks
 let beep = false
 beep = true
-control.runInBackground(function () {
+control.runInParallel(function () {
     motors.largeBC.setSpeed(-20)
     sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear)
     motors.largeBC.stop()
     beep = false
 })
-control.runInBackground(function () {
+control.runInParallel(function () {
     while (beep) {
         if (sensors.ultrasonic4.distance() < 20) {
             music.playTone(440, sensors.ultrasonic4.distance())

docs/coding/reversing-the-robot-1.md

@@ -1,12 +1,12 @@
 # Reversing the robot Activity 1
 
 ```blocks
-brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
     motors.largeBC.setSpeed(50)
-    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+    sensors.touch1.pauseUntil(ButtonEvent.Pressed)
     motors.largeBC.setSpeed(0)
     loops.pause(1000)
-    brick.setLight(LightsPattern.OrangeFlash)
+    brick.setStatusLight(StatusLight.OrangeFlash)
     motors.largeBC.setSpeed(-50)
     loops.pause(2000)
     motors.largeBC.setSpeed(0)

docs/coding/reversing-the-robot-2.md

@@ -1,13 +1,13 @@
 # Reversing the robot Activity 2
 
 ```blocks
-brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
-    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
+    sensors.touch1.pauseUntil(ButtonEvent.Pressed)
     motors.largeBC.setSpeed(50)
-    sensors.touchSensor2.pauseUntil(TouchSensorEvent.Pressed)
+    sensors.touch2.pauseUntil(ButtonEvent.Pressed)
     motors.largeBC.setSpeed(0)
     loops.pause(1000)
-    brick.setLight(LightsPattern.OrangeFlash)
+    brick.setStatusLight(StatusLight.OrangeFlash)
     motors.largeBC.setSpeed(-50)
     loops.pause(2000)
     motors.largeBC.setSpeed(0)

docs/coding/reversing-the-robot-3.md

@@ -1,16 +1,16 @@
 # Reversing the robot Activity 3
 
 ```blocks
-brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
     brick.showImage(images.eyesSleeping)
-    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+    sensors.touch1.pauseUntil(ButtonEvent.Pressed)
     brick.showImage(images.eyesNeutral)
     motors.largeBC.setSpeed(50)
-    sensors.touchSensor2.pauseUntil(TouchSensorEvent.Pressed)
+    sensors.touch2.pauseUntil(ButtonEvent.Pressed)
     brick.showImage(images.eyesTiredMiddle)
     motors.largeBC.setSpeed(0)
     loops.pause(1000)
-    brick.setLight(LightsPattern.OrangeFlash)
+    brick.setStatusLight(StatusLight.OrangeFlash)
     brick.showImage(images.eyesDizzy)
     motors.largeBC.setSpeed(-50)
     loops.pause(2000)

docs/coding/roaming-1.md

@@ -2,16 +2,16 @@
 
 ```blocks
 let drive: number[] = []
-brick.buttonLeft.onEvent(ButtonEvent.Click, function () {
+brick.buttonLeft.onEvent(ButtonEvent.Bumped, function () {
     drive.push(1)
 })
-brick.buttonRight.onEvent(ButtonEvent.Click, function () {
+brick.buttonRight.onEvent(ButtonEvent.Bumped, function () {
     drive.push(3)
 })
-brick.buttonUp.onEvent(ButtonEvent.Click, function () {
+brick.buttonUp.onEvent(ButtonEvent.Bumped, function () {
     drive.push(4)
 })
-brick.buttonDown.onEvent(ButtonEvent.Click, function () {
+brick.buttonDown.onEvent(ButtonEvent.Bumped, function () {
     drive.push(5)
 })
 pauseUntil(() => drive.length >= 5)
@@ -19,17 +19,13 @@ loops.pause(1000)
 music.playSoundEffectUntilDone(sounds.communicationGo)
 for (let d of drive) {
     if (d == 1) {
-        motors.largeC.setSpeedFor(50, 360, MoveUnit.Degrees)
-        motors.largeC.pauseUntilReady()
+        motors.largeC.setSpeed(50, 360, MoveUnit.Degrees)
     } else if (d == 3) {
-        motors.largeB.setSpeedFor(50, 360, MoveUnit.Degrees)
-        motors.largeB.pauseUntilReady()
+        motors.largeB.setSpeed(50, 360, MoveUnit.Degrees)
     } else if (d == 4) {
-        motors.largeBC.setSpeedFor(50, 360, MoveUnit.Degrees)
-        motors.largeBC.pauseUntilReady()
+        motors.largeBC.setSpeed(50, 360, MoveUnit.Degrees)
     } else {
-        motors.largeBC.setSpeedFor(-50, 360, MoveUnit.Degrees)
-        motors.largeBC.pauseUntilReady()
+        motors.largeBC.setSpeed(-50, 360, MoveUnit.Degrees)
     }
 }
 music.playSoundEffectUntilDone(sounds.communicationGameOver)

docs/coding/roaming-2.md

@@ -2,38 +2,34 @@
 
 ```blocks
 let drive: number[] = []
-brick.buttonLeft.onEvent(ButtonEvent.Click, function () {
+brick.buttonLeft.onEvent(ButtonEvent.Bumped, function () {
     drive.push(1)
     music.playSoundEffectUntilDone(sounds.systemClick)
 })
-brick.buttonRight.onEvent(ButtonEvent.Click, function () {
+brick.buttonRight.onEvent(ButtonEvent.Bumped, function () {
     drive.push(3)
     music.playSoundEffectUntilDone(sounds.systemClick)
 })
-brick.buttonUp.onEvent(ButtonEvent.Click, function () {
+brick.buttonUp.onEvent(ButtonEvent.Bumped, function () {
     drive.push(4)
     music.playSoundEffectUntilDone(sounds.systemClick)
 })
-brick.buttonDown.onEvent(ButtonEvent.Click, function () {
+brick.buttonDown.onEvent(ButtonEvent.Bumped, function () {
     drive.push(5)
     music.playSoundEffectUntilDone(sounds.systemClick)
 })
-brick.buttonEnter.pauseUntil(ButtonEvent.Click);
+brick.buttonEnter.pauseUntil(ButtonEvent.Bumped);
 loops.pause(1000)
 music.playSoundEffectUntilDone(sounds.communicationGo)
 for (let d of drive) {
     if (d == 1) {
-        motors.largeC.setSpeedFor(50, 360, MoveUnit.Degrees)
-        motors.largeC.pauseUntilReady()
+        motors.largeC.setSpeed(50, 360, MoveUnit.Degrees)
     } else if (d == 3) {
-        motors.largeB.setSpeedFor(50, 360, MoveUnit.Degrees)
-        motors.largeB.pauseUntilReady()
+        motors.largeB.setSpeed(50, 360, MoveUnit.Degrees)
     } else if (d == 4) {
-        motors.largeBC.setSpeedFor(50, 360, MoveUnit.Degrees)
-        motors.largeBC.pauseUntilReady()
+        motors.largeBC.setSpeed(50, 360, MoveUnit.Degrees)
     } else {
-        motors.largeBC.setSpeedFor(-50, 360, MoveUnit.Degrees)
-        motors.largeBC.pauseUntilReady()
+        motors.largeBC.setSpeed(-50, 360, MoveUnit.Degrees)
     }
 }
 music.playSoundEffectUntilDone(sounds.communicationGameOver)

docs/coding/three-point-turn-1.md

@@ -1,7 +1,7 @@
 # Three Point Turn Activity 1
 
 ```blocks
-brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
     motors.largeBC.tank(75, 30)
     loops.pause(1500)
     motors.largeBC.tank(-30, -75)

docs/coding/three-point-turn-2.md

@@ -1,7 +1,7 @@
 # Three Point Turn Activity 2
 
 ```blocks
-brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
     motors.largeBC.tank(75, 30)
     loops.pause(1500)
     motors.largeBC.tank(-30, -75)

docs/coding/three-point-turn-3.md

@@ -1,7 +1,7 @@
 # Three Point Turn Activity 3
 
 ```blocks
-brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
     motors.largeBC.tank(75, 30)
     loops.pause(1500)
     motors.largeBC.tank(-30, -75)

docs/coding/traffic-lights-1.md

@@ -1,7 +1,7 @@
 # Traffic Lights Activity 1
 
 ```blocks
-brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
     motors.largeBC.tank(20, 20)
     sensors.color3.pauseForColor(ColorSensorColor.Red)
     motors.largeBC.tank(0, 0)

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(ButtonEvent.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.setStatusLight(StatusLight.RedPulse);
+    brick.showImage(images.eyesKnockedOut)
+    music.playSoundEffect(sounds.movementsSpeedDown)
+    sensors.touch3.pauseUntil(ButtonEvent.Pressed)
+    brick.setStatusLight(StatusLight.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.setStatusLight(StatusLight.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.setStatusLight(StatusLight.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.runInParallel(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(ButtonEvent.Pressed);
+    motors.largeC.setSpeed(-50, 0.86, MoveUnit.Rotations);
+}
+
+INI()
+
+let down = false;
+loops.forever(function () {
+    brick.showImage(images.informationQuestionMark)
+    brick.setStatusLight(StatusLight.OrangePulse);
+    pauseUntil(() => (down = brick.buttonDown.wasPressed()) || brick.buttonUp.wasPressed())
+    brick.setStatusLight(StatusLight.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(ButtonEvent.Pressed);
+    motors.largeC.setSpeed(-50, 0.86, MoveUnit.Rotations);
+}
+
+INI()
+
+let down = false;
+loops.forever(function () {
+    brick.showImage(images.informationQuestionMark)
+    brick.setStatusLight(StatusLight.OrangePulse);
+    pauseUntil(() => (down = brick.buttonDown.wasPressed()) || brick.buttonUp.wasPressed())
+    brick.setStatusLight(StatusLight.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.setStatusLight(StatusLight.RedPulse);
+    brick.showImage(images.eyesKnockedOut)
+    music.playSoundEffect(sounds.movementsSpeedDown)
+    sensors.touch3.pauseUntil(ButtonEvent.Pressed)
+    brick.setStatusLight(StatusLight.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/happy-unhappy.md

@@ -3,10 +3,10 @@
 Use a touch sensor to make the brick happy.
 
 ```blocks
-sensors.touchSensor1.onEvent(TouchSensorEvent.Pressed, function () {
+sensors.touch1.onEvent(ButtonEvent.Pressed, function () {
     brick.showImage(images.expressionsBigSmile)
 })
-sensors.touchSensor1.onEvent(TouchSensorEvent.Released, function () {
+sensors.touch1.onEvent(ButtonEvent.Released, function () {
     brick.showImage(images.expressionsSick)
 })
 ```

docs/examples/line-follower-pid.md

@@ -44,7 +44,7 @@ loops.forever(function () {
     lasterror = error
     if (brick.buttonEnter.wasPressed()) {
         motors.largeBC.setSpeed(0)
-        brick.buttonDown.pauseUntil(ButtonEvent.Click)
+        brick.buttonDown.pauseUntil(ButtonEvent.Bumped)
     }
 })
 ```

docs/examples/print-ports.md

@@ -0,0 +1,40 @@
+
+# Print Ports
+
+```typescript
+/**
+ * Print the port states on the screen
+ */
+//% blockId=brickPrintPorts block="print ports"
+//% help=brick/print-ports
+//% weight=1 group="Screen"
+function printPorts() {
+    const col = 44;
+    clearScreen();
+
+    function scale(x: number) {
+        if (Math.abs(x) > 1000) return Math.round(x / 100) / 10 + "k";
+        return ("" + (x >> 0));
+    }
+
+    // motors
+    const datas = motors.getAllMotorData();
+    for(let i = 0; i < datas.length; ++i) {
+        const data = datas[i];
+        if (!data.actualSpeed && !data.count) continue;
+        const x = i * col;
+        print(`${scale(data.actualSpeed)}%`, x, brick.LINE_HEIGHT)
+        print(`${scale(data.count)}>`, x, 2 * brick.LINE_HEIGHT)
+        print(`${scale(data.tachoCount)}|`, x, 3 * brick.LINE_HEIGHT)
+    }
+
+    // sensors
+    const sis = sensors.internal.getActiveSensors();
+    for(let i =0; i < sis.length; ++i) {
+        const si = sis[i];
+        const x = (si.port() - 1) * col;
+        const v = si._query();
+        print(`${scale(v)}`, x, 9 * brick.LINE_HEIGHT)
+    }
+}
+```

docs/labview.md

@@ -0,0 +1,251 @@
+# Coding in MakeCode
+
+This guide is intended for users who are used to the LabView LEGO Minstorms editor.
+
+## Snap the blocks
+
+Just like LabView, blocks can be dragged from the cabinet and snapped together
+to create a sequence of program instructions.
+
+The program below **starts**, turns on motor A, waits a second and stop motor A.
+
+![sequence of block](/static/labview/sequencing.png)     
+
+The blocks are similar: they snap on the ``||on start||`` block then latch to each other vertically.
+
+```blocks
+motors.largeA.setSpeed(50)
+loops.pause(1000)
+motors.largeA.stop()
+```
+
+All block programs can be converted to JavaScript and edited from there as well.
+
+```typescript
+motors.largeA.setSpeed(50)
+loops.pause(1000)
+motors.largeA.stop()
+```
+
+## Download to the EV3
+
+The MakeCode editor provides a simulator to try out the code in your browser. It restarts automatically after you make a code change. Once you are ready to transfer it to the @boardname@, click the ``||Download||`` button and follow the instructions.
+
+## Single motors
+
+The program below controls a large motor on port A in a variety of ways: setting the speed, 
+setting the speed for a given time, angle or number of rotations.
+
+![Single motor blocks](/static/labview/motors.png)       
+
+```blocks
+motors.largeA.setSpeed(50);
+motors.largeA.setSpeed(50, 1000, MoveUnit.MilliSeconds);
+motors.largeA.setSpeed(50, 360, MoveUnit.Degrees);
+motors.largeA.setSpeed(50, 1, MoveUnit.Rotations);
+motors.largeA.stop();
+```
+
+## Steering
+
+The **steering** blocks allow to synchronize two motors at a precise rate. They can also specify the duration, angle or number of rotations.
+
+![Steering blocks](/static/labview/steer.png)
+
+```blocks
+motors.largeBC.steer(0, 50);
+motors.largeBC.steer(0, 50, 1000, MoveUnit.MilliSeconds);
+motors.largeBC.steer(0, 50, 360, MoveUnit.Degrees);
+motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations);
+motors.largeBC.stop();
+```
+
+## Tank
+
+The **tank** blocks control the speed of two motors, typically from a differential drive robot. They can also specify the duration, angle or number of rotations.
+
+![Tank block](/static/labview/tank.png)
+
+```blocks
+motors.largeBC.tank(50, 50);
+motors.largeBC.tank(50, 50, 1000, MoveUnit.MilliSeconds);
+motors.largeBC.tank(50, 50, 360, MoveUnit.Degrees);
+motors.largeBC.tank(50, 50, 1, MoveUnit.Rotations);
+motors.largeBC.stop();
+```
+
+## Coasting and braking
+
+By default, all motors coast when the move command is done. You can change this behavior with the `set brake`` block. 
+
+![Brake block](/static/labview/brake.png)
+
+```blocks
+motors.largeD.setBrake(true);
+motors.largeD.setSpeed(50, 1, MoveUnit.Rotations)
+```
+
+## Inverting and regulating motors
+
+Sometime you need to invert the direction of a motor. Use the ``set invert`` block.
+
+![Brake block](/static/labview/invertmotor.png)
+
+```blocks
+motors.largeA.setInverted(true);
+```
+
+By default, the speed of motors is regulated. This means that if your robot goes up a hill,
+the regulator will adjust the power to match the desired speed. You can disable this feature
+using ``set regulated``.
+
+![Brake block](/static/labview/unregulatedmotor.png)
+
+```blocks
+motors.largeA.setRegulated(false);
+```
+
+## Brick
+
+The brick category contains a number of blocks to display graphics on the brick screen.
+
+![brick image](/static/labview/brickimage.png)
+
+```blocks
+brick.clearScreen()
+brick.showImage(images.expressionsWink)
+```
+
+![brick status light](/static/labview/brickstatuslight.png)
+
+```blocks
+brick.setStatusLight(StatusLight.Off);
+brick.setStatusLight(StatusLight.Red);
+brick.setStatusLight(StatusLight.OrangePulse);
+```
+
+## Waiting (pausing)
+
+It is quite common to wait for a sensor state, such as a touch button pressed.
+The ``pause until`` blocks provide a variety of ways to acheive this.
+
+![pause for time](/static/labview/pausefortime.png)      
+
+```blocks
+motors.largeD.setSpeed(50)
+loops.pause(1000)
+motors.largeD.stop();
+```
+
+![pause for touch](/static/labview/pausefortouch.png)
+
+```blocks
+motors.largeD.setSpeed(50)
+sensors.touch1.pauseUntil(ButtonEvent.Pressed)
+motors.largeD.stop();
+```
+
+![pause for distance](/static/labview/pausefordistance.png)
+
+```blocks
+motors.largeD.setSpeed(50)
+sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear)
+motors.largeD.stop();
+```
+
+You can also use the ``pause until`` block to wait on any boolean expression.
+The runtime will evaluate this expression until it becomes true.
+
+```blocks
+motors.largeD.setSpeed(50)
+pauseUntil(() => sensors.touch1.isPressed())
+motors.largeD.stop()
+```
+
+## Loops
+
+![Single loop](/static/labview/loopinfinite.png)
+
+```blocks
+loops.forever(() => {
+    motors.largeD.setSpeed(50, 1, MoveUnit.Rotations);
+    motors.largeD.setSpeed(-50, 1, MoveUnit.Rotations);
+})
+```
+
+![While loop](/static/labview/while.png)
+
+```blocks
+for(let i = 0; i < 10; i++) {
+    motors.largeD.setSpeed(50, 1, MoveUnit.Rotations);
+    motors.largeD.setSpeed(-50, 1, MoveUnit.Rotations);
+}
+let k = 0;
+while(k < 10) {
+    motors.largeD.setSpeed(50, 1, MoveUnit.Rotations);
+    motors.largeD.setSpeed(-50, 1, MoveUnit.Rotations);    
+    k++;
+}
+```
+
+## Variables
+
+![Variable block](/static/labview/speedoflightvar.png)
+
+```blocks
+let light = 0;
+loops.forever(function () {
+    light = sensors.color3.light(LightIntensityMode.Reflected);
+    motors.largeD.setSpeed(light)
+})
+```
+
+## Concurrent loops
+
+You can spin up multiple ``forever`` loops that will run at the same time.
+Only one code is running at the time, but each loop iteration will interleave.
+
+![Brake block](/static/labview/multipleloops.png)
+
+```blocks
+loops.forever(() => {
+    motors.largeD.setSpeed(50, 1, MoveUnit.Rotations);
+    motors.largeD.setSpeed(-50, 1, MoveUnit.Rotations);
+})
+loops.forever(() => {
+    brick.showImage(images.eyesMiddleRight)
+    loops.pause(1000)
+    brick.showImage(images.eyesMiddleLeft)
+    loops.pause(1000)
+})
+```
+
+## Conditional
+
+The ``if`` block allow to run different code based on a boolean condition.
+This is similar to the switch block.
+
+![Brake block](/static/labview/ife.png)
+
+```blocks
+loops.forever(function() {
+    if(sensors.touch1.isPressed()) {
+        motors.largeD.setSpeed(50)
+    } else {
+        motors.largeD.stop()
+    }
+})
+```
+
+## Random
+
+The ``random range`` blocks returns number between two bounds.
+
+![Brake block](/static/labview/random.png)
+
+```blocks
+loops.forever(function () {
+    motors.largeBC.steer(Math.randomRange(-5, 5), 50)
+    loops.pause(100)
+})
+```

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 @unplugged
+
+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 @unplugged
+
+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)
+```
+
+## Download @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.
+
+```blocks
+motors.largeBC.tank(-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.
+
+```blocks
+motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
+motors.largeBC.stop()
+```
+
+### 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.
+
+```blocks
+motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
+motors.largeBC.stop()
+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/maker/intruder-detector.md

@@ -2,10 +2,8 @@
 
 This program will activate an alarm when an object moves in front of the Ultrasonic Sensor.
 
-TODO support for event when value changes
-
 ```blocks
-input.ultrasonic4.onObjectNear(function () {
-    music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
+sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjectNear, function () {
+    music.playSoundEffectUntilDone(sounds.informationActivate)
 })
 ```

docs/maker/puppet.md

@@ -4,14 +4,12 @@ Use this program with the Programmable Brick and Large Motor.
 
 ```blocks
 loops.forever(function () {
-    output.largeMotorA.setPower(30)
-    output.largeMotorA.on(true)
+    motors.largeA.setSpeed(30)
     loops.pause(100)
-    output.largeMotorA.on(false)
-    music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
-    output.largeMotorA.setPower(-30)
-    output.largeMotorA.on(true)
+    motors.largeA.stop()
+    music.playSoundEffectUntilDone(sounds.animalsCatPurr)
+    motors.largeA.setSpeed(-30)
     loops.pause(100)
-    output.largeMotorA.on(false)
+    motors.largeA.stop()
 })
 ```

docs/maker/security-gadget.md

@@ -3,7 +3,7 @@
 This program will activate an alarm when an object is lifted from the Touch Sensor.
 
 ```blocks
-input.touchSensor1.onEvent(TouchSensorEvent.Released, function () {
-    music.playSoundUntilDone(music.sounds(Sounds.PowerUp))
+sensors.touch1.onEvent(ButtonEvent.Released, function () {
+    music.playSoundEffectUntilDone(sounds.informationActivate);
 })
 ```

docs/maker/sound-machine.md

@@ -4,9 +4,9 @@ This example program combined with the small model will make a beat and rhythm o
 
 ```blocks
 loops.forever(function () {
-    output.motorA.on(50)
+    motors.largeA.setSpeed(50)
     loops.pause(200)
-    output.motorA.on(100)
+    motors.largeA.setSpeed(100)
     loops.pause(200)
 })
 ``` 

docs/maker/sound-of-color.md

@@ -3,13 +3,13 @@
 This program will play different sounds when the wheel is rotated. The sound is determined by which color is placed in front of the color Sensor.
 
 ```blocks
-input.color3.onColorDetected(ColorSensorColor.Blue, function () {
+sensors.color3.onColorDetected(ColorSensorColor.Blue, function () {
     music.playTone(Note.G4, music.beat(BeatFraction.Half))
 })
-input.color3.onColorDetected(ColorSensorColor.Red, function () {
+sensors.color3.onColorDetected(ColorSensorColor.Red, function () {
     music.playTone(Note.C5, music.beat(BeatFraction.Half))
 })
-input.color3.onColorDetected(ColorSensorColor.Green, function () {
+sensors.color3.onColorDetected(ColorSensorColor.Green, function () {
     music.playTone(Note.D5, music.beat(BeatFraction.Half))
 })
 ```

docs/reference.md

@@ -1,8 +1,13 @@
 # Reference
 
-
+```namespaces
+brick.showMood(moods.sleeping);
+motors.stopAllMotors()
+```
 
 ## See Also
 
+[brick](/reference/brick),
+[motors](/reference/motors),
 [touch sensor](/reference/sensors/touch-sensor),
 [color sensor](/reference/sensors/color-sensor)

docs/reference/brick.md

@@ -0,0 +1,30 @@
+# Brick
+
+## Screen
+
+```cards
+brick.showMood(moods.sleeping);
+brick.showImage(images.expressionsBigSmile);
+brick.showString("Hello world!", 1);
+brick.showNumber(0, 1);
+brick.showValue("item", 0, 1);
+brick.clearScreen();
+```
+
+## Buttons
+
+```cards
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
+
+});
+brick.buttonEnter.pauseUntil(ButtonEvent.Bumped);
+brick.buttonEnter.isPressed()
+brick.buttonEnter.wasPressed()
+brick.setStatusLight(StatusLight.Red);
+```
+
+## Other
+
+```cards
+brick.batteryLevel()
+```

docs/reference/brick/battery-level.md

@@ -0,0 +1,33 @@
+# battery Level
+
+Return the current battery level.
+
+```sig
+brick.batteryLevel();
+```
+
+## Returns
+
+* a [number](/types/number) which is the current charge level of the brick's battery. This is a percentage of total charge left in the battery.
+
+## Example
+
+Show the battery level percentage on the screen. Also, show a green light if the battery level is above 15%. If the battery level is below 15% but above 5%, show a orange light. But, if the battery level is below 5%, show a pulsing red light.
+
+```blocks
+let battery = 0;
+loops.forever(function() {
+    brick.showString("Battery level:", 1)
+    brick.showNumber(battery, 2)
+    battery = brick.batteryLevel();
+    if (battery > 15)
+    {
+        brick.setStatusLight(StatusLight.Green);
+    } else if (battery > 5) {
+        brick.setStatusLight(StatusLight.Orange);
+    } else {
+        brick.setStatusLight(StatusLight.RedPulse)
+    }
+    loops.pause(30000)
+})
+```

docs/reference/brick/button/is-pressed.md

@@ -0,0 +1,53 @@
+# is Pressed
+
+Check if a button is being pressed or not.
+
+```sig
+brick.buttonEnter.isPressed()
+```
+
+## ~hint
+
+**Touch sensors**
+
+Your @boardname@ has touch sensors that work like buttons. Instead of saying `enter` or `left` as the source button, use a touch sensor block with a sensor name like `touch 1`.
+
+```block
+if (sensors.touch1.isPressed()) {
+    console.log("Hey, I feel pressed.");
+}
+```
+
+Read about [touch sensors](/reference/sensors/touch-sensor) and using them as touch buttons.
+
+## ~
+
+## Returns
+
+* a [boolean](types/boolean): `true` if the button is pressed, `false` if the button is not pressed
+
+## Example
+
+Set the brick light to green when the `down` is pressed. When the button is not pressed, the brick light is red.
+
+```blocks
+let isRed = false;
+loops.forever(function() {
+    if (brick.buttonLeft.isPressed()) {
+        brick.setStatusLight(StatusLight.Green);
+        isRed = false;
+    } else {
+        if (!isRed) {
+            brick.setStatusLight(StatusLight.Red);
+            isRed = true;
+        }
+    }
+})
+```
+
+## See also
+
+[was pressed](/reference/brick/button/was-pressed),
+[on event](/reference/brick/button/on-event)
+
+[Touch sensors](/reference/sensors/touch-sensor)

docs/reference/brick/button/on-event.md

@@ -0,0 +1,57 @@
+# on Event
+
+Run some code when a button is clicked, pressed down, or released.
+
+```sig
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
+
+});
+```
+
+## ~hint
+
+**Touch sensors**
+
+Your @boardname@ has touch sensors that work like buttons. Instead of saying `enter` or `left` as the source button, use a touch sensor block with a sensor name like `touch 1`.
+
+```block
+sensors.touch1.onEvent(ButtonEvent.Pressed, function () {
+    brick.setStatusLight(StatusLight.Orange);
+});
+```
+
+Read about [touch sensors](/reference/sensors/touch-sensor) and using them as touch buttons.
+
+## ~
+
+## Parameters
+
+* **ev**: the button action to run some code for. The button actions (events) are:
+> * ``click``: button was clicked (pressed and released)
+> * ``up``: button is released from just being pressed
+> * ``down``: button is just pressed down
+* **body**: the code you want to run when something happens with a button
+
+## Example
+
+Check for event on the ENTER button. Put a message on the screen when the button is pressed, clicked, or released.
+
+```blocks
+brick.showString("ENTER is: UP", 1);
+brick.buttonEnter.onEvent(ButtonEvent.Released, function () {
+    brick.showString("ENTER is: UP      ", 1);
+});
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    brick.showString("ENTER is: DOWN    ", 1);
+});
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
+    brick.showString("ENTER was: CLICKED", 1);
+});
+```
+
+### See also
+
+[is pressed](/reference/brick/button/is-pressed),
+[was pressed](/reference/brick/button/was-pressed),
+
+[Touch sensor](/reference/sensors/touch-sensor)

docs/reference/brick/button/pause-until.md

@@ -0,0 +1,37 @@
+# pause Until
+
+Causes your program to wait until an event at a button happens.
+
+```sig
+brick.buttonEnter.pauseUntil(ButtonEvent.Bumped);
+```
+
+## Parameters
+
+* **ev**: the button action to wait for. The button actions (events) are:
+> * ``click``: button was clicked (pressed and released)
+> * ``up``: button is released from just being pressed
+> * ``down``: button is just pressed down
+
+## Example
+
+Wait for the `up` button to go up before continuing with displaying a message on the screen.
+
+```blocks
+let waitTime = 0;
+brick.showString("We're going to wait", 1);
+brick.showString("for you to press and", 2);
+brick.showString("release the UP button", 3);
+waitTime = control.millis();
+brick.buttonUp.pauseUntil(ButtonEvent.Bumped);
+brick.clearScreen();
+if (control.millis() - waitTime > 5000) {
+    brick.showString("Ok, that took awhile!", 1)
+} else {
+    brick.showString("Ah, you let go!", 1)
+}
+```
+
+## See also
+
+[on event](/reference/brick/button/on-event)

docs/reference/brick/button/was-pressed.md

@@ -0,0 +1,50 @@
+# was Pressed
+
+Check if a button was pressed earlier.
+
+```sig
+brick.buttonEnter.wasPressed()
+```
+
+The fact that a button was pressed earlier is remembered. Once **was pressed** is used, this fact is forgotten and the result is `false` the next time you check with **was pressed** button _state_ is reset). But, if you press the button again before you check with **was pressed**, it will tell you `true`. 
+
+## ~hint
+
+**Touch sensors**
+
+Your @boardname@ has touch sensors that work like buttons. Instead of saying `enter` or `left` as the source button, use a touch sensor block with a sensor name like `touch 1`.
+
+```block
+if (sensors.touch1.wasPressed()) {
+    console.log("Hey, I was pressed.");
+}
+```
+
+Read about [touch sensors](/reference/sensors/touch-sensor) and using them as touch buttons.
+
+## ~
+
+## Returns
+
+* a [boolean](types/boolean): `true` if the button was pressed before, `false` if the button was not pressed before
+
+## Example
+
+Set the brick light to green if the `right` button was pressed before the `left` button. If not, the brick light is turned off when the `left` button is pressed.
+
+```blocks
+brick.buttonLeft.onEvent(ButtonEvent.Bumped, function() {
+    if (brick.buttonRight.wasPressed()) {
+        brick.setStatusLight(StatusLight.Green)
+    } else {
+        brick.setStatusLight(StatusLight.Off)
+    }
+})
+```
+
+## See also
+
+[is pressed](/reference/brick/button/is-pressed),
+[on event](/reference/brick/button/on-event)
+
+[Touch sensors](/reference/sensors/touch-sensor)

docs/reference/brick/clear-screen.md

@@ -0,0 +1,22 @@
+# clear Screen
+
+Clear any text or numbers displayed on the screen. The screen will be blank.
+
+```sig
+brick.clearScreen();
+```
+
+## Example
+
+Clear the screen after displaying the message.
+
+```blocks
+brick.showString("This message will", 1);
+brick.showString("self-destruct in:", 2);
+brick.showString("seconds", 5);
+for (let i = 0; i < 10; i++) {
+    brick.showNumber(10 - i, 4);
+    loops.pause(1000);
+}
+brick.clearScreen();
+```

docs/reference/brick/set-status-light.md

@@ -0,0 +1,37 @@
+# set Light
+
+Set the light on the brick to a solid or flashing color.
+
+```sig
+brick.setStatusLight(StatusLight.Red);
+```
+## Parameters
+
+* **pattern**: the color or color pattern for the brick light to show. The brick light can have these color patterns:
+>* `off`: brick light is off
+>* `green`: solid green
+>* `red`: solid red
+>* `orange`: solid orange
+>* `green flash`: flashing green
+>* `red flash`: flashing red
+>* `orange flash`: flashing orange
+>* `green pulse`: pulsing green
+>* `red pulse`: pulsing red
+>* `orange pulse`: pulsing orange
+
+## Example
+
+Repeatedly show a different color pattern for the brick light.
+
+```blocks
+loops.forever(function () {
+    brick.setStatusLight(StatusLight.Orange)
+    loops.pause(1000)
+    brick.setStatusLight(StatusLight.GreenFlash)
+    loops.pause(2000)
+    brick.setStatusLight(StatusLight.RedPulse)
+    loops.pause(2000)
+    brick.setStatusLight(StatusLight.Off)
+    loops.pause(500)
+})
+```

docs/reference/brick/show-image.md

@@ -0,0 +1,24 @@
+# show Image
+
+Show an image on the brick's display.
+
+```sig
+brick.showImage(images.expressionsBigSmile);
+```
+You can choose one of several images to show on the display. 
+
+## Parameters
+
+**image**: A image to show on the brick's display. Use the image picker to choose the image you want to show.
+
+## Example
+
+Show a sleeping image on the brick's display.
+
+```blocks
+brick.showImage(images.expressionsZzz)
+```
+
+## See also
+
+[show image](/reference/brick/show-mood)

docs/reference/brick/show-number.md

@@ -0,0 +1,24 @@
+# show Number
+
+Show a number on the screen at the line you select.
+
+```sig
+brick.showNumber(0, 1);
+```
+
+## Parameters
+
+* **value**: a [number](/types/number) to show on the brick's screen.
+* **line**: The line number on the screen where the value is displayed. The line numbers for the screen start with line `1`.
+
+## Example
+
+Show the number `1000` on the screen.
+
+```blocks
+brick.showNumber(1000, 1);
+```
+
+## See also
+
+[show string](/reference/brick/show-string), [show value](/reference/brick/show-value)

docs/reference/brick/show-string.md

@@ -0,0 +1,29 @@
+# show String
+
+Show some text on a the screen at the line you select.
+
+```sig
+brick.showString("Hello world", 1)
+```
+
+## Parameters
+
+* **text**: a [string](/types/string) to show on the brick's screen.
+* **line**: the line [number](/types/number) on the screen where the text is displayed. The line numbers for the screen start with line `1`.
+
+## Example
+
+Show a greeting on the screen. Then, respond with another message when ENTER is pressed.
+
+```blocks
+brick.showString("Hello, I dare you to", 1);
+brick.showString("press ENTER...", 2);
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
+	brick.showString("Hey! Don't push my", 4);
+	brick.showString("buttons.", 5);
+});
+```
+
+## See also
+
+[show number](/reference/brick/show-number)

docs/reference/brick/show-value.md

@@ -0,0 +1,29 @@
+# show Value
+
+Show a name-value-pair on the screen at the line you select.
+
+```sig
+brick.showValue("item", 0, 1);
+```
+
+Name-value-pairs are used to report data values to the screen. If you want to show the current temperature on the screen, you might use `"temp"` as the data name for the the value.
+
+## Parameters
+
+* **name**: a [string](/types/string) which is the name of the data value.
+* **value**: a [number](/types/number) to show on the brick's screen.
+* **line**: The line number on the screen where the value is displayed. The line numbers for the screen start with line `1`.
+
+## Example
+
+Show the current amount of ambient light detected by sensor 2.
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Bumped, function () {
+    brick.showValue("color", sensors.color2.light(LightIntensityMode.Ambient), 1)
+})
+```
+
+## See also
+
+[show number](/reference/brick/show-number)

docs/reference/motors.md

@@ -0,0 +1,24 @@
+# Motors
+
+## Motion
+
+```cards
+motors.largeA.setSpeed(50)
+motors.largeAB.tank(50, 50)
+motors.largeAB.steer(0, 50)
+motors.largeA.pauseUntilReady()
+motors.largeA.setBrake(false)
+motors.largeA.setInverted(true)
+motors.largeA.setRegulated(false)
+motors.largeA.stop()
+motors.largeA.reset()
+motors.stopAllMotors()
+```
+## Counters
+
+```cards
+motors.largeA.speed()
+motors.largeA.angle()
+motors.largeA.tacho()
+motors.largeA.clearCounts()
+```

docs/reference/motors/motor/angle.md

@@ -0,0 +1,31 @@
+# angle
+
+Get the current angle of the motor's rotation in degrees.
+
+```sig
+motors.largeA.angle()
+```
+
+When a motor is started for the first time, or after a reset, it's angle of rotation starts at `0` degrees. A complete rotation (a turn in a full circle) is `360` degrees. At `360` degrees, the motor angle gets set back to `0`. So, one and a half turns adds up to `540` degrees of total rotation but the motor only cares about the current angle from `0` degrees which is `180` degrees.
+
+## Returns
+
+* a [number](/types/number) which is the current angle of rotation for the motor. The value returned is the number of degrees from `0` to `359`.
+
+## Example
+
+Reset the motor connected to port **A** and run it for for 2 seconds at a speed of `45`. Stop and get the current angle of rotation.
+
+```blocks
+let motorAngle = 0;
+motors.largeA.reset()
+motors.largeA.setSpeed(45)
+loops.pause(2000)
+motors.largeA.stop()
+motorAngle = motors.largeA.angle()
+```
+
+## See also
+
+[tacho](/reference/motors/motor/tacho), [speed](/reference/motors/motor/speed),
+[reset](/reference/motors/motor/reset), [clear counts](/reference/motors/motor/clear-counts)

docs/reference/motors/motor/clear-counts.md

@@ -0,0 +1,35 @@
+# clear Counts
+
+Set all counters for the motor back to zero.
+
+```sig
+motors.largeA.clearCounts()
+```
+
+The counters for a motor are: **tacho**, **angle**, and **speed**. Each of these counters is set to start counting from `0` again. This is a way to begin new counts without having to reset the motor.
+
+## Example
+
+See if the motor turns the same number of times for each of two count periods. Run the motor connected to port **A** twice for 10 seconds and compare the tacho counts.
+
+```blocks
+let tachoCount = 0;
+motors.largeA.reset()
+motors.largeA.setSpeed(50)
+loops.pause(10000)
+tachoCount = motors.largeA.tacho()
+motors.largeA.clearCounts()
+motors.largeA.setSpeed(50)
+loops.pause(10000)
+if (tachoCount == motors.largeA.tacho()) {
+    brick.showString("Motor turns equal.", 1)
+} else {
+    brick.showString("Motor turns NOT equal.", 1)
+}
+motors.largeA.stop()
+```
+
+## See also
+
+[tacho](/reference/motors/motor/tacho), [angle](/reference/motors/motor/angle),
+[speed](/reference/motors/motor/speed), [reset](/reference/motors/motor/reset)

docs/reference/motors/motor/reset.md

@@ -0,0 +1,30 @@
+# reset
+
+Reset the motor's speed setting and it's counters.
+
+```sig
+motors.largeA.reset()
+```
+
+The motor's speed is set back to `0` and the **tacho**, **angle**, and **speed** counters are set to `0`.
+
+## Example
+
+See what the angle count is when a motor is stopped. Then, try it again after a reset.
+
+```blocks
+motors.largeA.setSpeed(30)
+loops.pause(2000)
+motors.largeA.stop()
+brick.showString("Angle count:", 1)
+brick.showNumber(motors.largeA.angle(), 2)
+motors.largeA.setSpeed(30)
+loops.pause(2000)
+motors.largeA.reset()
+brick.showString("Angle count:", 4)
+brick.showNumber(motors.largeA.angle(), 5)
+```
+
+## See also
+
+[stop](/reference/motors/motor/stop), [clear counts](/reference/motors/motor/clear-counts)

docs/reference/motors/motor/set-brake.md

@@ -0,0 +1,30 @@
+# set Brake
+
+Set the brake on the motor so it won't turn when it has no power.
+
+```sig
+motors.largeA.setBrake(false)
+```
+
+When a the motor is stopped, it can still rotate if an external force is applied to it. This can happen, for example, if your're tanking your brick on a inclined surface and stop the motors. Gravity will push down on the brick and might cause it to start rolling again. You can prevent this movement by setting the brake.
+
+Also, you can use the brake to do simple skid steering for your brick.
+
+## Paramters
+
+* **brake**: a [boolean](/types/boolean) value which is either `true` to set the brake on or `false` to set the brake off.
+
+## Example
+
+Run the motor connected to port **A** for 2 seconds at a speed of `30`. Stop and set the brake.
+
+```blocks
+motors.largeA.setSpeed(30)
+loops.pause(2000)
+motors.largeA.stop()
+motors.largeA.setBrake(true)
+```
+
+## See also
+
+[stop](/reference/motors/motor/stop)

docs/reference/motors/motor/set-inverted.md

@@ -0,0 +1,32 @@
+# set Reversed
+
+Change the direction of rotation for a motor.
+
+```sig
+motors.largeA.setInverted(true)
+```
+
+You use a positive value (some number greater than `0`) to drive you motor in the default direction. If you're using a motor in a way that makes more sense for your program to use a negative speed setting for that direction, you can reverse the speed range.
+
+## Paramters
+
+* **reversed**: a [boolean](/types/boolean) value that is `false` if the motor will use a speed value between `0` and `100` to turn in the default direction. If `true`, the motor uses a speed value between `0` and `-100` to turn in the default direction.
+
+## Example
+
+Run the motor connected to port **A** for 2 seconds at a speed of `30`. Stop and switch the direciton of rotation. Run the motor at a speed of `-30`. Watch and see if the motor turns in the same direction as before.
+
+```blocks
+motors.largeA.setSpeed(30)
+loops.pause(2000)
+motors.largeA.stop()
+loops.pause(2000)
+motors.largeA.setInverted(true)
+motors.largeA.setSpeed(-30)
+loops.pause(2000)
+motors.largeA.stop()
+```
+
+## See also
+
+[stop](/reference/motors/motor/stop)

docs/reference/motors/motor/set-regulated.md

@@ -0,0 +1,32 @@
+# set Regulated
+
+Tell a motor to regulate its speed or not.
+
+```sig
+motors.largeA.setRegulated(true)
+```
+
+In order for a motor to always rotate at a constant speed it needs regulation. This means that the motor control electronics need to continously measure how much rotation has happened. The controller takes several rotation counts for a small amount of time and compares them to see if the speed is changing. The output power is adjusted if the controller detects that the motor is running too slow or too fast.
+
+If it's not regulated, your motor can change from the speed that you've set for it. Some examples are if your brick is driving forward and bumps into an object or it drives up a slope creating more load on the motor. In theses situations, if your motor speed is regulated, the controller will boost the power to the motor to keep it's speed from slowing down. Another example is when you run the motors to drive your brick down a slope. In this case, the motors would go faster than the speed you set for them if not regulated. To regulate this the controller reduces the power output to the motors to keep the brick from going faster.
+
+Motor regulation is always set to **ON** when your program first starts or the motor is reset.
+
+## Paramters
+
+* **value**: a [boolean](/types/boolean) value which means that the motor speed is regulated if `true`. The motor speed is not regulated when this is `false`.
+
+## Example
+
+Turn off the speed regulation for the motor connected to port **A**.
+
+```blocks
+motors.largeA.setRegulated(false)
+motors.largeA.setSpeed(75)
+loops.pause(20000)
+motors.largeA.stop()
+```
+
+## See also
+
+[set speed](/reference/motors/motor/set-speed), [stop](/reference/motors/motor/stop)

docs/reference/motors/motor/set-speed.md

@@ -0,0 +1,96 @@
+# set Speed
+
+Set the rotation speed of the motor as a percentage of maximum speed.
+
+```sig
+motors.largeA.setSpeed(50)
+```
+
+The speed setting is a pecentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
+
+If you use just the **speed** number, the motor runs continously and won't stop unless you tell it to. You can also give a value for a certain amount of distance you want the motor to rotate for. The **value** can be an amount of time, a turn angle in degrees, or a number of full rotations.
+
+If you decide to use a **value** of rotation distance, you need to choose a type of movement **unit**.
+
+## ~hint
+
+If you use a number of milliseconds as movement units, then you don't need to include the unit type.
+
+To run the motor for 500 milliseconds:
+
+```block
+motors.largeA.setSpeed(50, 500)
+```
+
+## ~
+
+Here is how you use each different movement unit to run the motor for a fixed rotation distance.
+
+```typescript
+// Run motor for 700 Milliseconds. 
+motors.largeA.setSpeed(25, 700, MoveUnit.MilliSeconds);
+
+// Run motor for 700 Milliseconds again but no units specified. 
+motors.largeA.setSpeed(25, 700);
+
+// Run the motor for 45 seconds
+motors.largeA.setSpeed(50, 45, MoveUnit.Seconds);
+
+// Turn the motor for 270 degrees
+motors.largeA.setSpeed(50, 270, MoveUnit.Degrees)
+
+// Turn the motor at full speed for 9 full rotations
+motors.largeA.setSpeed(100, 9, MoveUnit.Rotations);
+```
+
+## Parameters
+
+* **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motor in the reverse direction.
+* **value**: the [number](/types/number) of movement units to rotate for. A value of `0` means run the motor continuously.
+* **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.
+
+## ~hint
+
+** Reverse is negative speed**
+
+Turning the motor in the opposite direction (reverse) is simple. Reverse is just a negative speed setting. To drive the motor in reverse at 25% speed:
+
+```block
+motors.largeB.setSpeed(-25)
+```
+
+## ~
+
+## Examples
+
+### Drive the motor for 20 seconds
+
+Run the motor connected to port **A** continuously. Pause 20 seconds and then stop the motor.
+
+```blocks
+motors.largeA.setSpeed(75)
+loops.pause(20000)
+motors.largeA.stop()
+```
+
+### Backwards motion
+
+Run the motor connected to port **A** in reverse. Pause 5 seconds and then stop the motor.
+
+```blocks
+motors.largeA.setSpeed(-60)
+loops.pause(5000)
+motors.largeA.stop()
+```
+
+### Run the motor for 35 rotations
+
+Run the motor connected to port **B** for 35 full rotations and then stop.
+
+```blocks
+motors.largeB.setSpeed(50, 35, MoveUnit.Rotations)
+```
+
+## See also
+
+[tank](/reference/motors/synced/tank), [steer](/reference/motors/synced/steer), [stop](/reference/motors/motor/stop)

docs/reference/motors/motor/speed.md

@@ -0,0 +1,33 @@
+# speed
+
+Get the current speed of motor rotation as a percentage of maximum speed.
+
+```sig
+motors.largeA.speed()
+```
+
+The actual speed of the motor is the same or very close to it's current speed setting when the motor is regulated. If not regulated, the actual speed can change from the set speed when a force, or load, is applied to it.
+
+## Returns
+
+* a [number](/types/number) which is the motor's current speed. This value is a percentage of maximum speed from `0` to `100`. This number is negative, like `-27`, if the direction of rotation is in reverse.
+
+## Example
+
+Turn speed regulation off and report the actual speed of the large motor in the forward direction. Occasionally touch the wheel on the motor to see if it changes the speed.
+
+```blocks
+motors.largeA.setRegulated(false)
+motors.largeA.setSpeed(55)
+brick.showString("Actual speed:", 1)
+for (let i = 0; i < 30; i++) {
+    loops.pause(500)
+    brick.showNumber(motors.largeA.speed(), 3)
+}
+motors.largeA.stop()
+```
+
+## See also
+
+[tacho](/reference/motors/motor/tacho), [speed](/reference/motors/motor/speed),
+[reset](/reference/motors/motor/reset), [clear counts](/reference/motors/motor/clear-counts)

docs/reference/motors/motor/stop.md

@@ -0,0 +1,25 @@
+# stop
+
+Stop the motor.
+
+```sig
+motors.largeA.stop()
+```
+
+The motor stops but any motion caused from previously running the motor continues until it runs down. If you are driving your brick and then stop the motors, it will coast for awhile before stopping. If you want the brick to stop right away, use ``||motors:set brake||`` to stop it.
+
+## Example
+
+Run the motor connected to port **A** for 2 seconds at a speed of `30`. Stop and wait for 2 seconds, then continue at a speed of `50`.
+
+```blocks
+motors.largeA.setSpeed(30)
+loops.pause(2000)
+motors.largeA.stop()
+loops.pause(2000)
+motors.largeA.setSpeed(50)
+```
+
+## See also
+
+[set brake](/reference/motors/motor/set-brake), [reset](/reference/motors/motor/reset),

docs/reference/motors/motor/tacho.md

@@ -0,0 +1,48 @@
+# tacho
+
+Get the current number of degress of rotation.
+
+```sig
+motors.largeA.tacho()
+```
+
+The motors that come with your @boardname@ have a way to detect their own turning motion. They count the amount of motor rotation in degrees. The motor will count each degree of angle rotation up to 360 degrees for a full rotation. As the motor continues to turn, the _tacho_ count keeps adding up the degrees even past one full rotation. So, if the motor makes 3 complete rotations, the count will be 1080.
+
+The name _tacho_ comes from the first part of the word [tachometer](https://en.wikipedia.org/wiki/Tachometer) which is a device to measure how fast something is turning. The motor controller in the brick uses the tacho count to regulate the motor's speed.
+
+## ~hint
+
+**Measure RPM**
+
+A standard way to know how fast a motor is turning is by measuring its _revolutions per minute_ (rpm). One revolution is the same thing as a rotation, or one turn. How do you measure rpm? Well, here's a simple way:
+
+1. Record the current tacho count
+2. Run the motor for 60 seconds
+3. Get the tacho count again
+4. Subtract the first tacho count from the second one
+5. Divide that number by `360`
+
+## ~
+
+## Returns
+
+* a [number](/types/number) which is the total count of degrees of rotation that the motor has turned since it was first started or reset.
+
+## Example
+
+Run the motor connected to port **A** at half speed for 5 seconds. Display the number of full rotations on the screen.
+
+```blocks
+motors.largeA.setSpeed(50)
+loops.pause(5000)
+motors.largeA.stop()
+brick.showString("Motor rotations:", 1)
+brick.showNumber(motors.largeA.tacho() / 360, 3)
+motors.largeA.setSpeed(50)
+```
+
+## See also
+
+[angle](/reference/motors/motor/tacho), [speed](/reference/motors/motor/speed),
+[set regulated](/reference/motors/motor/set-regulated),
+[reset](/reference/motors/motor/reset), [clear counts](/reference/motors/motor/clear-counts)

docs/reference/motors/stop-all-motors.md

@@ -0,0 +1,25 @@
+# stop All Motors
+
+Stops all motors currently running on the brick.
+
+```sig
+motors.stopAllMotors();
+```
+
+The motors stops but any motion caused from previously running the motors continues until it runs down. If you are driving your brick and then stop the motors, it will coast for awhile before stopping. 
+
+## Example
+
+Tank the @boardname@ forward at half speed for 5 seconds and then stop.
+
+```blocks
+motors.largeAB.tank(50, 50);
+loops.pause(5000);
+motors.stopAllMotors();
+```
+
+## See also
+
+[stop](/reference/motors/motor/stop), 
+[reset](/reference/motors/motor/reset),
+[set brake](/reference/motors/motor/set-brake)

docs/reference/motors/synced/steer.md

@@ -0,0 +1,84 @@
+# steer
+
+Steer the brick in one direction using a turn ratio between two motors.
+
+```sig
+motors.largeAB.steer(0, 0)
+```
+
+A brick driving with two motors can steer itself by changing the speed of one motor compared to the speed of the other. To make a slow turn to the left, you might make the right motor run slightly faster than the left one. To make a fast, or sharp, turn to the right, the left motor could run at least twice as fast as the right one.
+
+The @boardname@ steers by using a percentage value of _follow_ for one of the motors. This means that the motor in the turn direction will rotate slower than the other. It is the _follower_ motor and the other motor is the _drive_ motor. The drive motor runs at a percentage of full speed set in **speed**. The follower motor runs at a percentage of speed of the drive motor. So, it runs at a percentage of a percentage of full speed.
+
+To make the turn happen you give a _turn ratio_ which is a percentage value of steer to the left or right. If you want to steer to the left at 30% of the of the drive motor speed, use the value of `-30` for **turnRatio**. Left turns use negative values and right turns use positive values. A really sharp turn to the right might use a turn ratio value of `80`.
+
+## Speed and distance
+
+The speed setting is a pecentage of the motor's full speed. Full speed is the speed that the motors run when the brick supplies maximum output voltage to the port.
+
+If you use just the **speed** number, the motors run continously and won't stop unless you tell them to. You can also give a value for a certain amount of distance you want the motors to rotate for. The **value** can be an amount of time, a turn angle in degrees, or a number of full rotations.
+
+If you decide to use a **value** of rotation distance, you need to choose a type of movement **unit**. Also, if you use a number of milliseconds as movement units, then you don't need to include the unit type. The description in [set speed](/reference/motors/motor/set-speed) shows how to use different movement units.
+
+## Parameters
+
+* **turnRatio**: a [number](/types/number) that is the percentage of speed of the drive motor. The follower motor runs at this speed. A negative number steers to the left and a positive number steers to the right. This is a number between `-100` and `100`.
+* **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motors in the reverse direction. This is the speed that the drive motor runs at.
+* **value**: the [number](/types/number) of movement units to rotate for. A value of `0` means run the motor continuously.
+* **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.
+
+## ~hint
+
+** Reverse is negative speed**
+
+Steering the brick backwards (in reverse) is simple. Reverse is just a negative speed setting. To steer the brick to the left in reverse at 75% speed:
+
+```block
+motors.largeBC.steer(-15, -75)
+```
+
+## ~
+
+## Examples
+
+### Make a slight right
+
+Turn to the right with a turn ratio of 10%.
+
+```block
+motors.largeBC.steer(10, 55)
+```
+
+### Make a sharp left
+
+Turn sharply to the left.
+
+```block
+motors.largeBC.steer(-80, 40)
+```
+
+### Steer straight
+
+Use **steer** but go straight ahead.
+
+```block
+motors.largeBC.steer(0, 100)
+```
+
+### Sneaky snake
+
+Steer the brick in a snake pattern for a short time.
+
+```block
+for (let i = 0; i < 4; i++) {
+    motors.largeBC.steer(30, 30)
+    loops.pause(5000)
+    motors.largeBC.steer(-30, 30)
+    loops.pause(5000)
+}
+motors.stopAllMotors()
+```
+
+## See also
+
+[tank](/reference/motors/synced/tank), [set speed](/reference/motors/motor/set-speed)

docs/reference/motors/synced/tank.md

@@ -0,0 +1,81 @@
+# tank
+
+Rotate two motors in synchronization.
+
+```sig
+motors.largeAB.tank(50, 50)
+```
+
+Tanking the brick will drive two motors in synchronization. This means that both motors will start at the same time. Also, each motor uses the same amount of rotation when running at the same speed. You can use different speed values for each motor to perform turns or spins.
+
+## Speed and distance
+
+The speed setting is a pecentage of the motor's full speed. Full speed is the speed that the motors run when the brick supplies maximum output voltage to the port.
+
+If you use just the **speed** number, the motors run continously and won't stop unless you tell them to. You can also give a value for a certain amount of distance you want the motors to rotate for. The **value** can be an amount of time, a turn angle in degrees, or a number of full rotations.
+
+If you decide to use a **value** of rotation distance, you need to choose a type of movement **unit**. Also, if you use a number of milliseconds as movement units, then you don't need to include the unit type. The description in [set speed](/reference/motors/motor/set-speed) shows how to use different movement units.
+
+## Parameters
+
+* **speedLeft**: a [number](/types/number) that is the percentage of full speed for the motor attached to the left of the brick. A negative value runs the motor in the reverse direction.
+* **speedRight**: a [number](/types/number) that is the percentage of full speed for the motor attached to the right of the brick. A negative value runs the motor in the reverse direction.
+* **value**: the [number](/types/number) of movement units to rotate for. A value of `0` means run the motor continuously.
+* **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.
+
+## ~hint
+
+** Reverse is negative speed**
+
+Tankng the brick in the opposite direction (reverse) is simple. Reverse is just a negative speed setting. To drive the motors in reverse at 75% speed:
+
+```block
+motors.largeBC.tank(-75, -75)
+```
+
+## ~
+
+## Examples
+
+### Tank forward and backward
+
+Move the brick straight ahead and then go backward.
+
+```blocks
+motors.largeAB.tank(75, 75)
+loops.pause(10000)
+motors.largeAB.tank(-55, -55)
+loops.pause(10000)
+motors.stopAllMotors()
+```
+
+### Slip steer
+
+Run the right motor at 50% and let the left motor spin freely.
+
+```blocks
+motors.largeAB.tank(0, 50)
+```
+
+### Skid steer
+
+Set the brake on the right motor. Run the left motor at 60% and let the right motor skid.
+
+```blocks
+motors.largeB.setBrake(true)
+motors.largeAB.tank(60, 0)
+```
+
+### Spin around
+
+Run both motors in opposite directions to spin the brick around to the left.
+
+```blocks
+motors.largeAB.tank(-30, 30)
+loops.pause(5000)
+motors.stopAllMotors()
+```
+
+## See also
+
+[steer](/reference/motors/synced/steer), [set speed](/reference/motors/motor/set-speed)

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