strings

adding logging
cholesky
2018-01-09 12:39:56 -08:00 · 2018-01-09 09:03:22 -08:00 · 2018-01-08 23:15:43 -08:00 · 2018-01-08 23:05:09 -08:00
50 changed files with 499 additions and 553 deletions
--- a/docs/coding/cruise-control-3.md
+++ b/docs/coding/cruise-control-3.md
@ -14,7 +14,7 @@ function accelerate() {
 }
 function update() {
    brick.clearScreen()
-    brick.showString("speed: " + speed, 1)
+    brick.printLine("speed: " + speed, 1)
    motors.largeBC.setSpeed(speed)
 }
 sensors.touch2.onEvent(TouchSensorEvent.Pressed, function () {
--- a/docs/coding/reverse-beeper-1.md
+++ b/docs/coding/reverse-beeper-1.md
@ -7,5 +7,5 @@ loops.forever(function () {
 })
 motors.largeBC.setSpeed(-20);
 sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
-motors.largeBC.stop();
+motors.stopAllMotors();
 ```
--- a/docs/coding/reverse-beeper-2.md
+++ b/docs/coding/reverse-beeper-2.md
@ -9,5 +9,5 @@ loops.forever(function () {
 })
 motors.largeBC.setSpeed(-20);
 sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear);
-motors.largeBC.stop();
+motors.stopAllMotors();
 ```
--- a/docs/coding/reverse-beeper-3.md
+++ b/docs/coding/reverse-beeper-3.md
@ -4,9 +4,10 @@
 let beep = false
 beep = true
 control.runInBackground(function () {
-    motors.largeBC.setSpeed(-20)
+    motors.largeB.setSpeed(-20)
+    motors.largeC.setSpeed(-20)
    sensors.ultrasonic4.pauseUntil(UltrasonicSensorEvent.ObjectNear)
-    motors.largeBC.stop()
+    motors.stopAllMotors()
    beep = false
 })
 control.runInBackground(function () {
--- a/docs/static/avatar.svg
+++ b/docs/static/avatar.svg
@ -1,109 +0,0 @@
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-	 xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px" viewBox="0 0 32 32"
-	 style="enable-background:new 0 0 32 32;" xml:space="preserve">
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-	<path id="Path_206" class="st0" d="M5327-8135.8c0,0.1,0,0.2,0,0.4c0.1,0.5,0.3,0.9,0.7,1.1c0.1,0.1,0.3,0.1,0.4,0.2l0,0
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-</g>
-</svg>
--- a/editor/extension.ts
+++ b/editor/extension.ts
@ -4,11 +4,10 @@
 import { deployCoreAsync, initAsync } from "./deploy";
 import { FieldPorts } from "./field_ports";
 import { FieldImages } from "./field_images";
-import { FieldSpeed } from "./field_speed";
+import {FieldSpeed} from "./field_speed";
 import { FieldBrickButtons } from "./field_brickbuttons";
-import { FieldTurnRatio } from "./field_turnratio";

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

-    trimOptions_() {
-    }
-
    /**
     * Create a dropdown menu under the text.
     * @private
@ -45,8 +42,7 @@ export class FieldPorts extends Blockly.FieldDropdown implements Blockly.FieldCu
        // Accessibility properties
        contentDiv.setAttribute('role', 'menu');
        contentDiv.setAttribute('aria-haspopup', 'true');
-        let options = this.getOptions();
-        options = options.sort();
+        const options = this.getOptions();
        for (let i = 0, option: any; option = options[i]; i++) {
            let content = (options[i] as any)[0]; // Human-readable text or image.
            const value = (options[i] as any)[1]; // Language-neutral value.
--- a/editor/field_turnratio.ts
+++ b/editor/field_turnratio.ts
@ -1,108 +0,0 @@
-/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
-/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
-
-export interface FieldTurnRatioOptions extends Blockly.FieldCustomOptions {
-}
-
-export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.FieldCustom {
-    public isFieldCustom_ = true;
-
-    private params: any;
-
-    private path_: SVGPathElement;
-    private reporter_: SVGTextElement;
-
-    /**
-     * Class for a color wheel field.
-     * @param {number|string} value The initial content of the field.
-     * @param {Function=} opt_validator An optional function that is called
-     *     to validate any constraints on what the user entered.  Takes the new
-     *     text as an argument and returns either the accepted text, a replacement
-     *     text, or null to abort the change.
-     * @extends {Blockly.FieldNumber}
-     * @constructor
-     */
-    constructor(value_: any, params: FieldTurnRatioOptions, opt_validator?: Function) {
-        super(String(value_), '-100', '100', null, '10', 'TurnRatio', opt_validator);
-        this.params = params;
-        (this as any).sliderColor_ = '#a8aaa8';
-    }
-
-    static HALF = 80;
-    static HANDLE_RADIUS = 30;
-    static RADIUS = FieldTurnRatio.HALF - FieldTurnRatio.HANDLE_RADIUS - 1;
-
-    createLabelDom_(labelText: string) {
-        let labelContainer = document.createElement('div');
-        let svg = Blockly.utils.createSvgElement('svg', {
-            'xmlns': 'http://www.w3.org/2000/svg',
-            'xmlns:html': 'http://www.w3.org/1999/xhtml',
-            'xmlns:xlink': 'http://www.w3.org/1999/xlink',
-            'version': '1.1',
-            'height': (FieldTurnRatio.HALF + FieldTurnRatio.HANDLE_RADIUS + 10) + 'px',
-            'width': (FieldTurnRatio.HALF * 2) + 'px'
-        }, labelContainer);
-        let defs = Blockly.utils.createSvgElement('defs', {}, svg);
-        let marker = Blockly.utils.createSvgElement('marker', {
-            'id': 'head',
-            'orient': "auto",
-            'markerWidth': '2',
-            'markerHeight': '4',
-            'refX': '0.1', 'refY': '1.5'
-        }, defs);
-        let markerPath = Blockly.utils.createSvgElement('path', {
-            'd': 'M0,0 V3 L1.5,1.5 Z',
-            'fill': '#f12a21'
-        }, marker);
-        this.reporter_ = pxsim.svg.child(svg, "text", {
-            'x': FieldTurnRatio.HALF, 'y': 96,
-            'text-anchor': 'middle', 'alignment-baseline': 'middle',
-            'style': 'font-size: 50px',
-            'class': 'sim-text inverted number'
-        }) as SVGTextElement;
-        this.path_ = Blockly.utils.createSvgElement('path', {
-            'x1': FieldTurnRatio.HALF,
-            'y1': FieldTurnRatio.HALF,
-            'marker-end': 'url(#head)',
-            'style': 'fill: none; stroke: #f12a21; stroke-width: 10'
-        }, svg);
-        this.updateGraph_();
-        let readout = document.createElement('span');
-        readout.setAttribute('class', 'blocklyFieldSliderReadout');
-        return [labelContainer, readout];
-    };
-
-    updateGraph_() {
-        if (!this.path_) {
-            return;
-        }
-        let v = goog.math.clamp(parseFloat(this.getText()), -100, 100);
-        if (isNaN(v)) {
-            v = 0;
-        }
-
-        const x = goog.math.clamp(parseFloat(this.getText()), -100, 100) / 100;
-        const theta = x * Math.PI / 2;
-        const cx = FieldTurnRatio.HALF;
-        const cy = FieldTurnRatio.HALF - 14;
-        const gamma = Math.PI - 2 * theta;
-        const r = FieldTurnRatio.RADIUS;
-        const alpha = 0.2 + Math.abs(x) * 0.5;
-        const x1 = 0;
-        const y1 = r * alpha;
-        const y2 = r * Math.sin(Math.PI / 2 - theta);
-        const x2 = r * Math.cos(Math.PI / 2 - theta);
-        const y3 = y2 - r * alpha * Math.cos(2 * theta);
-        const x3 = x2 - r * alpha * Math.sin(2 * theta);
-
-
-        const d = `M ${cx} ${cy} C ${cx} ${cy - y1} ${cx + x3} ${cy - y3} ${cx + x2} ${cy - y2}`;
-        this.path_.setAttribute('d', d);
-
-        this.reporter_.textContent = `${v}`;
-    }
-
-    setReadout_(readout: Element, value: string) {
-        this.updateGraph_();
-    }
-}
--- a/libs/chassis/_locales/chassis-jsdoc-strings.json
+++ b/libs/chassis/_locales/chassis-jsdoc-strings.json
@ -1,9 +1,12 @@
 {
  "chassis.Chassis": "A differential drive robot",
  "chassis.Chassis.drive": "Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)\nusing a unicycle model.",
+  "chassis.Chassis.driveFor": "Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)\nusing a unicycle model.",
+  "chassis.Chassis.driveFor|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
+  "chassis.Chassis.driveFor|param|speed": "speed of the center point between motors, eg: 10",
+  "chassis.Chassis.driveFor|param|value": "the amount of movement, eg: 2",
  "chassis.Chassis.drive|param|rotationSpeed": "rotation of the robot around the center point, eg: 30",
  "chassis.Chassis.drive|param|speed": "speed of the center point between motors, eg: 10",
-  "chassis.Chassis.drive|param|value": "the amount of movement, eg: 2",
  "chassis.Chassis.setMotors": "Sets the motors used by the chassis, default is B+C",
  "chassis.Chassis.setProperty": "Sets a property of the robot",
  "chassis.Chassis.setProperty|param|property": "the property to set",
--- a/libs/chassis/_locales/chassis-strings.json
+++ b/libs/chassis/_locales/chassis-strings.json
@ -1,6 +1,7 @@
 {
  "ChassisProperty.BaseLength|block": "base length (cm)",
  "ChassisProperty.WheelRadius|block": "wheel radius (cm)",
+  "chassis.Chassis.driveFor|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit",
  "chassis.Chassis.drive|block": "drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s",
  "chassis.Chassis.setMotors|block": "set %chassis|motors to %motors",
  "chassis.Chassis.setProperty|block": "set %chassis|%property|to %value",
--- a/libs/chassis/chassis.ts
+++ b/libs/chassis/chassis.ts
@ -29,13 +29,26 @@ namespace chassis {
         * using a unicycle model.
         * @param speed speed of the center point between motors, eg: 10
         * @param rotationSpeed rotation of the robot around the center point, eg: 30
-         * @param value the amount of movement, eg: 2
-         * @param unit 
         */
        //% blockId=motorDrive block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s"
        //% inlineInputMode=inline
+        //% weight=99 blockGap=8
+        drive(speed: number, rotationSpeed: number) {
+            this.driveFor(speed, rotationSpeed, 0, MoveUnit.Degrees);
+        }
+
+        /**
+         * Makes a differential drive robot move with a given speed (cm/s) and rotation rate (deg/s)
+         * using a unicycle model.
+         * @param speed speed of the center point between motors, eg: 10
+         * @param rotationSpeed rotation of the robot around the center point, eg: 30
+         * @param value the amount of movement, eg: 2
+         * @param unit 
+         */
+        //% blockId=motorDriveFor block="drive %chassis|at %speed|cm/s|turning %rotationSpeed|deg/s|for %value|%unit"
+        //% inlineInputMode=inline
        //% weight=95 blockGap=8
-        drive(speed: number, rotationSpeed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
+        driveFor(speed: number, rotationSpeed: number, value: number, unit: MoveUnit) {
            // speed is expressed in %
            const R = this.wheelRadius; // cm
            const L = this.baseLength; // cm
@ -52,7 +65,7 @@ namespace chassis {
            const sr = vr / maxw * 100; // % 
            const sl = vl / maxw * 100; // %

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

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

    //% whenUsed block="color 3" weight=90 fixedInstance jres=icons.port3
--- a/libs/core/_locales/core-jsdoc-strings.json
+++ b/libs/core/_locales/core-jsdoc-strings.json
@ -1,5 +1,4 @@
 {
-  "BrickLight": "Patterns for lights under the buttons.",
  "ButtonEvent": "User interaction on buttons",
  "Draw": "Drawing modes",
  "Image.buffer": "Returns the underlaying Buffer object.",
@ -7,6 +6,7 @@
  "Image.draw": "Draw an image on the screen.",
  "Image.height": "Returns the height of an image.",
  "Image.width": "Returns the width of an image.",
+  "LightsPattern": "Patterns for lights under the buttons.",
  "MMap.getNumber": "Read a number in specified format from the buffer.",
  "MMap.ioctl": "Perform ioctl(2) on the underlaying file",
  "MMap.length": "Returns the length of a Buffer object.",
@ -28,9 +28,11 @@
  "brick.buttonRight": "Right button on the EV3 Brick.",
  "brick.buttonUp": "Up button on the EV3 Brick.",
  "brick.clearScreen": "Clears the screen",
+  "brick.lightPattern": "Pattern block.",
+  "brick.lightPattern|param|pattern": "the lights pattern to use. eg: LightsPattern.Green",
  "brick.printPorts": "Prints the port states on the screen",
  "brick.setLight": "Set lights.",
-  "brick.setLight|param|pattern": "the lights pattern to use. eg: BrickLight.Orange",
+  "brick.setLight|param|pattern": "the lights pattern to use.",
  "brick.showImage": "Shows an image on screen",
  "brick.showImage|param|image": "image to draw",
  "brick.showNumber": "Shows a number on the screen",
@ -59,8 +61,6 @@
  "control.raiseEvent|param|value": "Component specific code indicating the cause of the event.",
  "motors.Motor.angle": "Gets motor angle.",
  "motors.Motor.clearCounts": "Clears the motor count",
-  "motors.Motor.setRegulated": "Indicates if the motor speed should be regulated. Default is true.",
-  "motors.Motor.setRegulated|param|value": "true for regulated motor",
  "motors.Motor.speed": "Gets motor actual speed.",
  "motors.Motor.tacho": "Gets motor tachometer count.",
  "motors.Motor.toString": "Returns the status of the motor",
@ -71,7 +71,7 @@
  "motors.MotorBase.setBrake": "Sets the automatic brake on or off when the motor is off",
  "motors.MotorBase.setBrake|param|brake": "a value indicating if the motor should break when off",
  "motors.MotorBase.setReversed": "Reverses the motor polarity",
-  "motors.MotorBase.setSpeed": "Sets the motor speed for limited time or distance.",
+  "motors.MotorBase.setSpeed": "Sets the motor speed for limited time or distance",
  "motors.MotorBase.setSpeed|param|speed": "the speed from ``100`` full forward to ``-100`` full backward, eg: 50",
  "motors.MotorBase.setSpeed|param|unit": "(optional) unit of the value",
  "motors.MotorBase.setSpeed|param|value": "(optional) measured distance or rotation",
--- a/libs/core/_locales/core-strings.json
+++ b/libs/core/_locales/core-strings.json
@ -1,17 +1,17 @@
 {
-  "BrickLight.GreenFlash|block": "green flash",
-  "BrickLight.GreenPulse|block": "green pulse",
-  "BrickLight.Green|block": "green",
-  "BrickLight.Off|block": "off",
-  "BrickLight.OrangeFlash|block": "orange flash",
-  "BrickLight.OrangePulse|block": "orange pulse",
-  "BrickLight.Orange|block": "orange",
-  "BrickLight.RedFlash|block": "red flash",
-  "BrickLight.RedPulse|block": "red pulse",
-  "BrickLight.Red|block": "red",
  "ButtonEvent.Click|block": "click",
  "ButtonEvent.Down|block": "down",
  "ButtonEvent.Up|block": "up",
+  "LightsPattern.GreenFlash|block": "Flashing Green",
+  "LightsPattern.GreenPulse|block": "Pulsing Green",
+  "LightsPattern.Green|block": "Green",
+  "LightsPattern.Off|block": "Off",
+  "LightsPattern.OrangeFlash|block": "Flashing Orange",
+  "LightsPattern.OrangePulse|block": "Pulsing Orange",
+  "LightsPattern.Orange|block": "Orange",
+  "LightsPattern.RedFlash|block": "Flashing Red",
+  "LightsPattern.RedPulse|block": "Pulsing Red",
+  "LightsPattern.Red|block": "Red",
  "MoveUnit.Degrees|block": "degrees",
  "MoveUnit.MilliSeconds|block": "milliseconds",
  "MoveUnit.Rotations|block": "rotations",
@ -30,14 +30,15 @@
  "brick.Button.pauseUntil|block": "pause until %button|%event",
  "brick.Button.wasPressed|block": "%button|was pressed",
  "brick.batteryLevel|block": "battery level",
-  "brick.buttonDown|block": "button down",
-  "brick.buttonEnter|block": "button enter",
-  "brick.buttonLeft|block": "button left",
-  "brick.buttonRight|block": "button right",
-  "brick.buttonUp|block": "button up",
+  "brick.buttonDown|block": "down",
+  "brick.buttonEnter|block": "enter",
+  "brick.buttonLeft|block": "left",
+  "brick.buttonRight|block": "right",
+  "brick.buttonUp|block": "up",
  "brick.clearScreen|block": "clear screen",
+  "brick.lightPattern|block": "%pattern",
  "brick.printPorts|block": "print ports",
-  "brick.setLight|block": "set light to %pattern",
+  "brick.setLight|block": "set light to %pattern=led_pattern",
  "brick.showImage|block": "show image %image=screen_image_picker",
  "brick.showNumber|block": "show number %name|at line %line",
  "brick.showString|block": "show string %text|at line %line",
@ -51,16 +52,13 @@
  "control|block": "control",
  "motors.Motor.angle|block": "%motor|angle",
  "motors.Motor.clearCounts|block": "%motor|clear counts",
-  "motors.Motor.setRegulated|block": "set %motor|regulated %value",
  "motors.Motor.speed|block": "%motor|speed",
  "motors.Motor.tacho|block": "%motor|tacho",
  "motors.MotorBase.pauseUntilReady|block": "%motor|pause until ready",
-  "motors.MotorBase.reset|block": "%motors|reset",
  "motors.MotorBase.setBrake|block": "set %motor|brake %brake",
  "motors.MotorBase.setReversed|block": "set %motor|reversed %reversed",
  "motors.MotorBase.setSpeed|block": "set %motor|speed to %speed=motorSpeedPicker|%",
-  "motors.MotorBase.stop|block": "%motors|stop",
-  "motors.SynchedMotorPair.steer|block": "steer %chassis|turn ratio %turnRatio=motorTurnRatioPicker|speed %speed=motorSpeedPicker|%",
+  "motors.SynchedMotorPair.steer|block": "steer %chassis|turn ratio %turnRatio|speed %speed=motorSpeedPicker|%",
  "motors.SynchedMotorPair.tank|block": "tank %motors|%speedLeft=motorSpeedPicker|%|%speedRight=motorSpeedPicker|%",
  "motors.largeAB|block": "large A+B",
  "motors.largeAD|block": "large A+D",
@ -92,6 +90,7 @@
  "{id:category}Serial": "Serial",
  "{id:group}Buttons": "Buttons",
  "{id:group}Counters": "Counters",
+  "{id:group}Light": "Light",
  "{id:group}More": "More",
  "{id:group}Move": "Move",
  "{id:group}Screen": "Screen",
--- a/libs/core/buttons.ts
+++ b/libs/core/buttons.ts
@ -2,35 +2,35 @@
 /**
 * Patterns for lights under the buttons.
 */
-const enum BrickLight {
-    //% block=off enumval=0
+const enum LightsPattern {
+    //% block=Off enumval=0
    //% blockIdentity=brick.lightPattern
    Off = 0,
-    //% block=green enumval=1
+    //% block=Green enumval=1
    //% blockIdentity=brick.lightPattern
    Green = 1,
-    //% block=red enumval=2
+    //% block=Red enumval=2
    //% blockIdentity=brick.lightPattern
    Red = 2,
-    //% block=orange enumval=3
+    //% block=Orange enumval=3
    //% blockIdentity=brick.lightPattern
    Orange = 3,
-    //% block="green flash" enumval=4
+    //% block="Flashing Green" enumval=4
    //% blockIdentity=brick.lightPattern
    GreenFlash = 4,
-    //% block="red flash" enumval=5
+    //% block="Flashing Red" enumval=5
    //% blockIdentity=brick.lightPattern
    RedFlash = 5,
-    //% block="orange flash" enumval=6
+    //% block="Flashing Orange" enumval=6
    //% blockIdentity=brick.lightPattern
    OrangeFlash = 6,
-    //% block="green pulse" enumval=7
+    //% block="Pulsing Green" enumval=7
    //% blockIdentity=brick.lightPattern
    GreenPulse = 7,
-    //% block="red pulse" enumval=8
+    //% block="Pulsing Red" enumval=8
    //% blockIdentity=brick.lightPattern
    RedPulse = 8,
-    //% block="orange pulse" enumval=9
+    //% block="Pulsing Orange" enumval=9
    //% blockIdentity=brick.lightPattern
    OrangePulse = 9,
 }
@ -170,7 +170,6 @@ namespace brick {
        // this needs to be done in query(), which is run without the main JS execution mutex
        // otherwise, while(true){} will lock the device
        if (ret & DAL.BUTTON_ID_ESCAPE) {
-            motors.stopAllMotors(); // ensuring that all motors are off
            control.reset()
        }
        return ret
@ -204,31 +203,31 @@ namespace brick {
    /**
     * Enter button on the EV3 Brick.
     */
-    //% whenUsed block="button enter" weight=95 fixedInstance
+    //% whenUsed block="enter" weight=95 fixedInstance
    export const buttonEnter: Button = new DevButton(DAL.BUTTON_ID_ENTER)

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

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

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

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

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

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

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

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

-        reset() {
+        protected reset() {
            if (this.isActive()) uartReset(this._port);
        }
    }
--- a/libs/core/ns.ts
+++ b/libs/core/ns.ts
@ -11,15 +11,4 @@ namespace motors {
    export function __speedPicker(speed: number): number {
        return speed;
    }
-
-    /**
-     * A turn ratio picker
-     * @param turnratio the turn ratio, eg: 0
-     */
-    //% blockId=motorTurnRatioPicker block="%turnratio" shim=TD_ID
-    //% turnratio.fieldEditor="turnratio" colorSecondary="#FFFFFF"
-    //% weight=0 blockHidden=1 turnRatio.fieldOptions.decompileLiterals=1
-    export function __turnRatioPicker(turnratio: number): number {
-        return turnratio;
-    }
 }
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@ -111,7 +111,7 @@ namespace motors {
     * Stops all motors
     */
    //% blockId=motorStopAll block="stop all motors"
-    //% weight=1
+    //% weight=5
    //% group="Move"
    export function stopAllMotors() {
        const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
@ -175,7 +175,7 @@ namespace motors {
        */
        //% blockId=motorSetReversed block="set %motor|reversed %reversed"
        //% reversed.fieldEditor=toggleonoff
-        //% weight=59 blockGap=8
+        //% weight=59
        //% group="Move"
        setReversed(reversed: boolean) {
            this.init();
@ -187,9 +187,7 @@ namespace motors {
        /**
         * Stops the motor(s).
         */
-        //% weight=6 blockGap=8
-        //% group="Move"
-        //% blockId=motorStop block="%motors|stop"
+        //%
        stop() {
            this.init();
            stop(this._port, this._brake);
@ -198,16 +196,14 @@ namespace motors {
        /**
         * Resets the motor(s).
         */
-        //% weight=5
-        //% group="Move"
-        //% blockId=motorReset block="%motors|reset"
+        //%
        reset() {
            this.init();
            reset(this._port);
        }

        /**
-         * Sets the motor speed for limited time or distance.
+         * Sets the motor speed for limited time or distance
         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
         * @param value (optional) measured distance or rotation
         * @param unit (optional) unit of the value
@ -218,17 +214,10 @@ namespace motors {
        setSpeed(speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
            this.init();
            speed = Math.clamp(-100, 100, speed >> 0);
-            // stop if speed is 0
            if (!speed) {
                this.stop();
                return;
            }
-            // special: 0 is infinity
-            if (value == 0) {
-                this._setSpeed(speed);
-                return;
-            }
-            // timed motor moves
            let useSteps: boolean;
            let stepsOrTime: number;
            switch (unit) {
@ -251,8 +240,6 @@ namespace motors {
            }

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

        /**
@ -282,12 +269,10 @@ namespace motors {
    //% fixedInstances
    export class Motor extends MotorBase {
        private _large: boolean;
-        private _regulated: boolean;

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

@ -303,7 +288,7 @@ namespace motors {
        }

        private __setSpeed(speed: number) {
-            const b = mkCmd(this._port, this._regulated ? DAL.opOutputPower : DAL.opOutputSpeed, 1)
+            const b = mkCmd(this._port, DAL.opOutputSpeed, 1)
            b.setNumber(NumberFormat.Int8LE, 2, speed)
            writePWM(b)
            if (speed) {
@ -317,24 +302,11 @@ namespace motors {
                step1: 0,
                step2: stepsOrTime,
                step3: 0,
-                speed: this._regulated ? speed : undefined,
-                power: this._regulated ? undefined : speed,
+                speed: speed,
                useBrake: this._brake
            })
        }

-        /**
-         * Indicates if the motor speed should be regulated. Default is true.
-         * @param value true for regulated motor
-         */
-        //% blockId=outputMotorSetRegulated block="set %motor|regulated %value"
-        //% value.fieldEditor=toggleonoff
-        //% weight=58
-        //% group="Move"
-        setRegulated(value: boolean) {
-            this._regulated = value;
-        }
-
        /**
         * Gets motor actual speed.
         * @param motor the port which connects to the motor
@ -502,7 +474,7 @@ namespace motors {
         * @param value (optional) move duration or rotation
         * @param unit (optional) unit of the value
         */
-        //% blockId=motorPairSteer block="steer %chassis|turn ratio %turnRatio=motorTurnRatioPicker|speed %speed=motorSpeedPicker|%"
+        //% blockId=motorPairSteer block="steer %chassis|turn ratio %turnRatio|speed %speed=motorSpeedPicker|%"
        //% weight=95
        //% turnRatio.min=-200 turnRatio=200
        //% inlineInputMode=inline
--- a/libs/core/test.ts
+++ b/libs/core/test.ts
@ -2,7 +2,7 @@ screen.clear()
 brick.print("PXT!", 10, 30, Draw.Quad)

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

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

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

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

--- a/libs/ev3/ns.ts
+++ b/libs/ev3/ns.ts
@ -8,7 +8,7 @@ namespace brick {

 //% color="#C8509B" weight=95 icon="\uf10f"
 //% labelLineWidth=0
-//% groups='["Touch Sensor", "Color Sensor", "Ultrasonic Sensor", "Gyro Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Threshold"]'
+//% groups='["Ultrasonic Sensor", "Touch Sensor", "Color Sensor", "Infrared Sensor", "Remote Infrared Beacon", "Gyro Sensor"]'
 //% groupIcons='["\uf101","\uf103","\uf102","","","\uf104"]'
 namespace sensors {
 }
--- a/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json
+++ b/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json
@ -1,5 +1,5 @@
 {
  "sensors.GyroSensor.angle": "Get the current angle from the gyroscope.",
-  "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
-  "sensors.GyroSensor.reset": "Forces a calibration of the gyro. Must be called when the sensor is completely still."
+  "sensors.GyroSensor.calibrate": "Forces a calibration of the gyro. Must be called when the sensor is completely still.",
+  "sensors.GyroSensor.rotationRate": "Get the current rotation rate from the gyroscope."
 }
--- a/libs/gyro-sensor/_locales/gyro-sensor-strings.json
+++ b/libs/gyro-sensor/_locales/gyro-sensor-strings.json
@ -1,7 +1,7 @@
 {
  "sensors.GyroSensor.angle|block": "%sensor|angle",
-  "sensors.GyroSensor.rate|block": "%sensor|rate",
-  "sensors.GyroSensor.reset|block": "%sensor|reset",
+  "sensors.GyroSensor.calibrate|block": "%sensor|calibrate",
+  "sensors.GyroSensor.rotationRate|block": "%sensor|rotation rate",
  "sensors.gyro1|block": "gyro 1",
  "sensors.gyro2|block": "gyro 2",
  "sensors.gyro3|block": "gyro 3",
--- a/libs/gyro-sensor/gyro.ts
+++ b/libs/gyro-sensor/gyro.ts
@ -31,7 +31,7 @@ namespace sensors {
        //% parts="gyroscope"
        //% blockNamespace=sensors
        //% sensor.fieldEditor="ports"
-        //% weight=64 blockGap=8
+        //% weight=65 blockGap=8
        //% group="Gyro Sensor"
        angle(): number {
            if (this.calibrating)
@ -45,15 +45,15 @@ namespace sensors {
         * Get the current rotation rate from the gyroscope.
         * @param sensor the gyroscope to query the request
         */
-        //% help=input/gyro/rate
-        //% block="%sensor|rate"
+        //% help=input/gyro/rotation-rate
+        //% block="%sensor|rotation rate"
        //% blockId=gyroGetRate
        //% parts="gyroscope"
        //% blockNamespace=sensors
        //% sensor.fieldEditor="ports"
        //% weight=65 blockGap=8        
        //% group="Gyro Sensor"
-        rate(): number {
+        rotationRate(): number {
            if (this.calibrating)
                pauseUntil(() => !this.calibrating, 2000);

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

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

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

    //% fixedInstance whenUsed block="infrared 1" jres=icons.port1
--- a/libs/matrix/README.md
+++ b/libs/matrix/README.md
@ -0,0 +1 @@
+# Matrix
--- a/libs/matrix/_locales/matrix-jsdoc-strings.json
+++ b/libs/matrix/_locales/matrix-jsdoc-strings.json
@ -0,0 +1,15 @@
+{
+  "matrix.Matrix": "A 2D matrix",
+  "matrix.Matrix.add": "Returns a new matrix as the sum of both matrices",
+  "matrix.Matrix.cholesky": "Performs a Cholesky factorized for a symmetric and positive definite",
+  "matrix.Matrix.clone": "Clones the matrix",
+  "matrix.Matrix.get": "Gets a value from the matrix",
+  "matrix.Matrix.get|param|row": "@param col ",
+  "matrix.Matrix.identity": "Creates an identity matrix",
+  "matrix.Matrix.logToConsole": "Renders the matrix to the console",
+  "matrix.Matrix.multiply": "Multiplies the current matrix with the other matrix and returns a new matrix",
+  "matrix.Matrix.scale": "Returns a new matrix with scaled values",
+  "matrix.Matrix.set": "Sets a value in the array",
+  "matrix.Matrix.set|param|row": "@param col ",
+  "matrix.Matrix.transpose": "Returns a transposed matrix"
+}
--- a/libs/matrix/_locales/matrix-strings.json
+++ b/libs/matrix/_locales/matrix-strings.json
@ -0,0 +1,4 @@
+{
+  "matrix|block": "matrix",
+  "{id:category}Matrix": "Matrix"
+}
--- a/libs/matrix/matrix.ts
+++ b/libs/matrix/matrix.ts
@ -0,0 +1,186 @@
+namespace matrix {
+    function pre(check: boolean) {
+        if (!check)
+            control.reset();
+    }
+
+    /**
+     * A 2D matrix
+     */
+    export class Matrix {
+        private _rows: number;
+        private _cols: number;
+        private _values: number[];
+
+        constructor(rows: number, cols: number, values: number[] = undefined) {
+            pre(rows > 0);
+            pre(cols > 0);
+            this._rows = rows;
+            this._cols = cols;
+            const n = this._rows * this._cols;
+            this._values = values || [];
+            // fill gaps
+            while (this._values.length < n)
+                this._values.push(0);
+        }
+
+        /**
+         * Creates an identity matrix
+         * @param size 
+         */
+        static identity(size: number): Matrix {
+            const m = new Matrix(size, size);
+            for (let i = 0; i < size; ++i)
+                m._values[i * size] = 1;
+            return m;
+        }
+
+        /**
+         * Sets a value in the array
+         * @param row 
+         * @param col 
+         * @param val 
+         */
+        set(row: number, col: number, val: number) {
+            pre(row == row >> 0 && row >= 0 && row < this._rows && col == col >> 0 && col >= 0 && col < this._cols);
+            this._values[row * this._cols + col] = val;
+        }
+
+        /**
+         * Gets a value from the matrix
+         * @param row 
+         * @param col 
+         */
+        get(row: number, col: number): number {
+            pre(row == row >> 0 && row >= 0 && row < this._rows && col == col >> 0 && col >= 0 && col < this._cols);
+            return this._values[row * this._cols + col];
+        }
+
+        /**
+         * Gets the number of rows
+         */
+        get rows(): number {
+            return this._rows;
+        }
+
+        /**
+         * Gets the number of colums
+         */
+        get cols(): number {
+            return this._cols;
+        }
+
+        /**
+         * Gets the raw storage buffer
+         */
+        get values(): number[] {
+            return this._values;
+        }
+
+        /**
+         * Returns a new matrix as the sum of both matrices
+         * @param other 
+         */
+        add(other: Matrix): Matrix {
+            pre(this._rows != other._rows || this._cols != other._cols)
+            const n = this._rows * this._cols;
+            const r: number[] = [];
+            for (let i = 0; i < n; ++i) {
+                r[i] = this._values[i] + other._values[i];
+            }
+            return new Matrix(this._rows, this._cols, r);
+        }
+
+        /**
+         * Returns a new matrix with scaled values
+         * @param factor 
+         */
+        scale(factor: number): Matrix {
+            const n = this._rows * this._cols;
+            const r: number[] = [];
+            for (let i = 0; i < n; ++i) {
+                r[i] = this._values[i] * factor;
+            }
+            return new Matrix(this._rows, this._cols, r);
+        }
+
+        /**
+         * Multiplies the current matrix with the other matrix and returns a new matrix
+         * @param other 
+         */
+        multiply(other: Matrix): Matrix {
+            pre(this._cols == other._rows);
+            const r: number[] = [];
+            for (let i = 0; i < this._rows; ++i) {
+                for (let j = 0; j < other._cols; ++j) {
+                    let s = 0;
+                    for (let k = 0; k < this._cols; ++k) {
+                        s += this._values[i * this._cols + k] * other._values[k * other._cols + j];
+                    }
+                    r[i * other._cols + j];
+                }
+            }
+            return new Matrix(this._rows, other._cols, r);
+        }
+
+        /**
+         * Returns a transposed matrix
+         */
+        transpose(): Matrix {
+            const R = new Matrix(this._cols, this._rows);
+            const r: number[] = R._values;
+            for (let i = 0; i < this._rows; ++i) {
+                for (let j = 0; j < this._cols; ++j) {
+                    r[i + j * this._rows] = this._values[i * this._cols + j];
+                }
+            }
+            return R;
+        }
+
+        /**
+         * Clones the matrix
+         */
+        clone(): Matrix {
+            const r = new Matrix(this._rows, this._cols, this._values.slice(0));
+            return r;
+        }
+
+        /** 
+         * Performs a Cholesky factorized for a symmetric and positive definite
+         * 
+        */
+        cholesky(): Matrix {
+            pre(this._rows == this._cols);
+            const l = this.clone();
+            const n = this._rows;
+            const L = l._values;
+
+            for (let j = 0; j < n; j++) {
+                const jj = L[j * n + j] = Math.sqrt(L[j * n + j]);
+                for (let i = j + 1; i < n; ++i)
+                    L[i * n + j] /= jj;
+                for (let k = j + 1; k < n; k++)
+                    for (let i = k; i < n; i++)
+                        L[i * n + j] -= L[i * n + j] * L[k * n + j];
+            }
+
+            return l;
+        }
+
+        /**
+         * Renders the matrix to the console
+         */
+        logToConsole(): void {
+            let k = 0;
+            for(let i = 0; i < this._rows; ++i) {
+                let s = ""
+                for(let j = 0; j < this._cols; ++j) {
+                    if (j > 0)
+                     s += " "
+                    s += Math.round((this._values[k++] * 100) / 100);
+                }
+                console.log(s)
+            }
+        }
+    }
+}
--- a/libs/matrix/pxt.json
+++ b/libs/matrix/pxt.json
@ -0,0 +1,15 @@
+{
+    "name": "matrix",
+    "description": "Matrix algebra",
+    "files": [
+        "README.md",
+        "matrix.ts"
+    ],
+    "testFiles": [
+        "test.ts"
+    ],
+    "public": true,
+    "dependencies": {
+            "core": "file:../core"
+    }
+}
--- a/libs/matrix/test.ts
+++ b/libs/matrix/test.ts
@ -0,0 +1 @@
+// add tests here
--- a/libs/music/_locales/music-strings.json
+++ b/libs/music/_locales/music-strings.json
@ -33,34 +33,34 @@
  "music.stopAllSounds|block": "stop all sounds",
  "music.tempo|block": "tempo (bpm)",
  "music|block": "music",
-  "sounds.animalsCatPurr|block": "animals cat purr",
-  "sounds.animalsDogBark1|block": "animals dog bark 1",
-  "sounds.animalsDogBark2|block": "animals dog bark 2",
-  "sounds.animalsDogGrowl|block": "animals dog growl",
-  "sounds.animalsDogSniff|block": "animals dog sniff",
-  "sounds.animalsDogWhine|block": "animals dog whine",
-  "sounds.animalsElephantCall|block": "animals elephant call",
-  "sounds.animalsInsectBuzz1|block": "animals insect buzz1",
-  "sounds.animalsInsectBuzz2|block": "animals insect buzz2",
-  "sounds.animalsInsectChirp|block": "animals insect chirp",
-  "sounds.animalsSnakeHiss|block": "animals snake hiss",
-  "sounds.animalsSnakeRattle|block": "animals snake rattle",
-  "sounds.animalsTRexRoar|block": "animals trex roar",
-  "sounds.colorsBlack|block": "colors black",
-  "sounds.colorsBlue|block": "colors blue",
-  "sounds.colorsBrown|block": "colors brown",
-  "sounds.colorsGreen|block": "colors green",
-  "sounds.colorsRed|block": "colors red",
-  "sounds.colorsWhite|block": "colors white",
-  "sounds.colorsYellow|block": "colors yellow",
-  "sounds.communicationBravo|block": "communication bravo",
-  "sounds.communicationEv3|block": "communication ev3",
-  "sounds.communicationFantastic|block": "communication fantastic",
-  "sounds.communicationGameOver|block": "communication game over",
+  "sounds.animalsCatPurr|block": "Animals cat purr",
+  "sounds.animalsDogBark1|block": "Animals dog bark 1",
+  "sounds.animalsDogBark2|block": "Animals dog bark 2",
+  "sounds.animalsDogGrowl|block": "Animals dog growl",
+  "sounds.animalsDogSniff|block": "Animals dog sniff",
+  "sounds.animalsDogWhine|block": "Animals dog whine",
+  "sounds.animalsElephantCall|block": "Animals elephant call",
+  "sounds.animalsInsectBuzz1|block": "Animals insect buzz1",
+  "sounds.animalsInsectBuzz2|block": "Animals insect buzz2",
+  "sounds.animalsInsectChirp|block": "Animals insect chirp",
+  "sounds.animalsSnakeHiss|block": "Animals snake hiss",
+  "sounds.animalsSnakeRattle|block": "Animals snake rattle",
+  "sounds.animalsTRexRoar|block": "Animals trex roar",
+  "sounds.colorsBlack|block": "Colors black",
+  "sounds.colorsBlue|block": "Colors blue",
+  "sounds.colorsBrown|block": "Colors brown",
+  "sounds.colorsGreen|block": "Colors green",
+  "sounds.colorsRed|block": "Colors red",
+  "sounds.colorsWhite|block": "Colors white",
+  "sounds.colorsYellow|block": "Colors yellow",
+  "sounds.communicationBravo|block": "Communication bravo",
+  "sounds.communicationEv3|block": "Communication ev3",
+  "sounds.communicationFantastic|block": "Communication fantastic",
+  "sounds.communicationGameOver|block": "Communication game over",
  "sounds.communicationGoodJob|block": "communicationGoodJob",
  "sounds.communicationGoodbye|block": "communication goodbye",
  "sounds.communicationGood|block": "communication good",
-  "sounds.communicationGo|block": "communication go",
+  "sounds.communicationGo|block": "Communication go",
  "sounds.communicationHello|block": "communication hello",
  "sounds.communicationHi|block": "communication hi",
  "sounds.communicationLego|block": "communication lego",
@ -159,7 +159,7 @@
  "sounds.systemOverpower|block": "system overpower",
  "sounds.systemPowerDown|block": "system power down",
  "sounds.systemReady|block": "system ready",
-  "sounds.systemStartUp|block": "system start up",
+  "sounds.systemStartUp|block": "S",
  "{id:category}Music": "Music",
  "{id:category}Sound": "Sound",
  "{id:category}Sounds": "Sounds"
--- a/libs/music/sounds.ts
+++ b/libs/music/sounds.ts
@ -1,53 +1,53 @@
 namespace sounds {
-    //% fixedInstance jres block="animals cat purr"
+    //% fixedInstance jres block="Animals cat purr"
    export const animalsCatPurr = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals dog bark 1"
+    //% fixedInstance jres block="Animals dog bark 1"
    export const animalsDogBark1 = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals dog bark 2"
+    //% fixedInstance jres block="Animals dog bark 2"
    export const animalsDogBark2 = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals dog growl"
+    //% fixedInstance jres block="Animals dog growl"
    export const animalsDogGrowl = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals dog sniff"
+    //% fixedInstance jres block="Animals dog sniff"
    export const animalsDogSniff = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals dog whine"
+    //% fixedInstance jres block="Animals dog whine"
    export const animalsDogWhine = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals elephant call"
+    //% fixedInstance jres block="Animals elephant call"
    export const animalsElephantCall = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals insect buzz1"
+    //% fixedInstance jres block="Animals insect buzz1"
    export const animalsInsectBuzz1 = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals insect buzz2"
+    //% fixedInstance jres block="Animals insect buzz2"
    export const animalsInsectBuzz2 = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals insect chirp"
+    //% fixedInstance jres block="Animals insect chirp"
    export const animalsInsectChirp = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals snake hiss"
+    //% fixedInstance jres block="Animals snake hiss"
    export const animalsSnakeHiss = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals snake rattle"
+    //% fixedInstance jres block="Animals snake rattle"
    export const animalsSnakeRattle = music.fromWAV(hex``);
-    //% fixedInstance jres block="animals trex roar"
+    //% fixedInstance jres block="Animals trex roar"
    export const animalsTRexRoar = music.fromWAV(hex``);
-    //% fixedInstance jres block="colors black"
+    //% fixedInstance jres block="Colors black"
    export const colorsBlack = music.fromWAV(hex``);
-    //% fixedInstance jres block="colors blue"
+    //% fixedInstance jres block="Colors blue"
    export const colorsBlue = music.fromWAV(hex``);
-    //% fixedInstance jres block="colors brown"
+    //% fixedInstance jres block="Colors brown"
    export const colorsBrown = music.fromWAV(hex``);
-    //% fixedInstance jres block="colors green"
+    //% fixedInstance jres block="Colors green"
    export const colorsGreen = music.fromWAV(hex``);
-    //% fixedInstance jres block="colors red"
+    //% fixedInstance jres block="Colors red"
    export const colorsRed = music.fromWAV(hex``);
-    //% fixedInstance jres block="colors white"
+    //% fixedInstance jres block="Colors white"
    export const colorsWhite = music.fromWAV(hex``);
-    //% fixedInstance jres block="colors yellow"
+    //% fixedInstance jres block="Colors yellow"
    export const colorsYellow = music.fromWAV(hex``);
-    //% fixedInstance jres block="communication bravo"
+    //% fixedInstance jres block="Communication bravo"
    export const communicationBravo = music.fromWAV(hex``);
-    //% fixedInstance jres block="communication ev3"
+    //% fixedInstance jres block="Communication ev3"
    export const communicationEv3 = music.fromWAV(hex``);
-    //% fixedInstance jres block="communication fantastic"
+    //% fixedInstance jres block="Communication fantastic"
    export const communicationFantastic = music.fromWAV(hex``);
-    //% fixedInstance jres block="communication game over"
+    //% fixedInstance jres block="Communication game over"
    export const communicationGameOver = music.fromWAV(hex``);
-    //% fixedInstance jres block="communication go"
+    //% fixedInstance jres block="Communication go"
    export const communicationGo = music.fromWAV(hex``);
    //% fixedInstance jres block="communicationGoodJob"
    export const communicationGoodJob = music.fromWAV(hex``);
@ -251,7 +251,7 @@ namespace sounds {
    export const systemPowerDown = music.fromWAV(hex``);
    //% fixedInstance jres block="system ready"
    export const systemReady = music.fromWAV(hex``);
-    //% fixedInstance jres block="system start up"
+    //% fixedInstance jres block=S
    export const systemStartUp = music.fromWAV(hex``);
 }

--- a/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json
+++ b/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json
@ -2,8 +2,5 @@
  "sensors.UltraSonicSensor.distance": "Gets the distance from the sonar in centimeters",
  "sensors.UltraSonicSensor.onEvent": "Registers code to run when the given color is close",
  "sensors.UltraSonicSensor.onEvent|param|handler": "the code to run when detected",
-  "sensors.UltraSonicSensor.pauseUntil": "Waits for the event to occur",
-  "sensors.UltraSonicSensor.setThreshold": "Sets a threshold value",
-  "sensors.UltraSonicSensor.setThreshold|param|condition": "the dark or bright light condition",
-  "sensors.UltraSonicSensor.setThreshold|param|value": "the value threshold"
+  "sensors.UltraSonicSensor.pauseUntil": "Waits for the event to occur"
 }
--- a/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
+++ b/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
@ -5,12 +5,10 @@
  "sensors.UltraSonicSensor.distance|block": "%sensor|distance",
  "sensors.UltraSonicSensor.onEvent|block": "on %sensor|%event",
  "sensors.UltraSonicSensor.pauseUntil|block": "pause until %sensor| %event",
-  "sensors.UltraSonicSensor.setThreshold|block": "set %sensor|%condition|to %value",
  "sensors.ultrasonic1|block": "ultrasonic 1",
  "sensors.ultrasonic2|block": "ultrasonic 2",
  "sensors.ultrasonic3|block": "ultrasonic 3",
  "sensors.ultrasonic4|block": "ultrasonic 4",
  "{id:category}Sensors": "Sensors",
-  "{id:group}Threshold": "Threshold",
  "{id:group}Ultrasonic Sensor": "Ultrasonic Sensor"
 }
--- a/libs/ultrasonic-sensor/ultrasonic.ts
+++ b/libs/ultrasonic-sensor/ultrasonic.ts
@ -85,23 +85,6 @@ namespace sensors {
            this._setMode(0)
            return this._query();
        }
-
-
-        /**
-         * Sets a threshold value
-         * @param condition the dark or bright light condition
-         * @param value the value threshold
-         */
-        //% blockId=ultrasonicSetThreshold block="set %sensor|%condition|to %value"
-        //% group="Threshold" blockGap=8
-        //% value.min=0 value.max=255
-        setThreshold(condition: UltrasonicSensorEvent, value: number) {            
-            switch(condition) {
-                case UltrasonicSensorEvent.ObjectNear: this.promixityThreshold.setLowThreshold(value); break;
-                case UltrasonicSensorEvent.ObjectFar: this.promixityThreshold.setHighThreshold(value); break;
-                case UltrasonicSensorEvent.ObjectDetected: this.movementThreshold = value; break;
-            }
-        }
    }
  
    //% fixedInstance whenUsed block="ultrasonic 4" jres=icons.port4
--- a/package-lock.json
+++ b/package-lock.json
@ -1,6 +1,6 @@
 {
  "name": "pxt-ev3",
-  "version": "0.0.59",
+  "version": "0.0.51",
  "lockfileVersion": 1,
  "requires": true,
  "dependencies": {
@ -399,7 +399,7 @@
      "integrity": "sha1-IeCr+vbyApzy+vsTNWenAdQTVSQ=",
      "requires": {
        "bn.js": "4.11.8",
-        "randombytes": "2.0.6"
+        "randombytes": "2.0.5"
      }
    },
    "browserify-sign": {
@ -792,7 +792,7 @@
        "inherits": "2.0.3",
        "pbkdf2": "3.0.14",
        "public-encrypt": "4.0.0",
-        "randombytes": "2.0.6",
+        "randombytes": "2.0.5",
        "randomfill": "1.0.3"
      }
    },
@ -956,7 +956,7 @@
      "requires": {
        "bn.js": "4.11.8",
        "miller-rabin": "4.0.1",
-        "randombytes": "2.0.6"
+        "randombytes": "2.0.5"
      }
    },
    "domain-browser": {
@ -1009,9 +1009,9 @@
      }
    },
    "end-of-stream": {
-      "version": "1.4.1",
-      "resolved": "https://registry.npmjs.org/end-of-stream/-/end-of-stream-1.4.1.tgz",
-      "integrity": "sha512-1MkrZNvWTKCaigbn+W15elq2BB/L22nqrSY5DKlo3X6+vclJm8Bb5djXJBmEX6fS3+zCh/F4VBK5Z2KxJt4s2Q==",
+      "version": "1.4.0",
+      "resolved": "https://registry.npmjs.org/end-of-stream/-/end-of-stream-1.4.0.tgz",
+      "integrity": "sha1-epDYM+/abPpurA9JSduw+tOmMgY=",
      "requires": {
        "once": "1.4.0"
      }
@ -1562,15 +1562,6 @@
        "verror": "1.10.0"
      }
    },
-    "keytar": {
-      "version": "3.0.2",
-      "resolved": "https://registry.npmjs.org/keytar/-/keytar-3.0.2.tgz",
-      "integrity": "sha1-TcFd01I/4wYx+dOIV4pAFRpgWG8=",
-      "optional": true,
-      "requires": {
-        "nan": "2.3.2"
-      }
-    },
    "kind-of": {
      "version": "3.2.2",
      "resolved": "https://registry.npmjs.org/kind-of/-/kind-of-3.2.2.tgz",
@ -1842,9 +1833,9 @@
      "integrity": "sha1-WQTcU3w57G2+/q6QIycTX6hRHxI="
    },
    "marked": {
-      "version": "0.3.12",
-      "resolved": "https://registry.npmjs.org/marked/-/marked-0.3.12.tgz",
-      "integrity": "sha512-k4NaW+vS7ytQn6MgJn3fYpQt20/mOgYM5Ft9BYMfQJDz2QT6yEeS9XJ8k2Nw8JTeWK/znPPW2n3UJGzyYEiMoA=="
+      "version": "0.3.9",
+      "resolved": "https://registry.npmjs.org/marked/-/marked-0.3.9.tgz",
+      "integrity": "sha512-nW5u0dxpXxHfkHzzrveY45gCbi+R4PaO4WRZYqZNl+vB0hVGeqlFn0aOg1c8AKL63TrNFn9Bm2UP4AdiZ9TPLw=="
    },
    "math-expression-evaluator": {
      "version": "1.2.17",
@ -1975,7 +1966,8 @@
    "nan": {
      "version": "2.3.2",
      "resolved": "https://registry.npmjs.org/nan/-/nan-2.3.2.tgz",
-      "integrity": "sha1-TU7PF+HaTpie+08nPY0AIBytCH4="
+      "integrity": "sha1-TU7PF+HaTpie+08nPY0AIBytCH4=",
+      "dev": true
    },
    "neatequal": {
      "version": "1.0.0",
@ -2518,7 +2510,7 @@
        "npmlog": "4.1.2",
        "os-homedir": "1.0.2",
        "pump": "1.0.3",
-        "rc": "1.2.3",
+        "rc": "1.2.2",
        "simple-get": "1.4.3",
        "tar-fs": "1.16.0",
        "tunnel-agent": "0.6.0",
@ -2566,7 +2558,7 @@
        "browserify-rsa": "4.0.1",
        "create-hash": "1.1.3",
        "parse-asn1": "5.1.0",
-        "randombytes": "2.0.6"
+        "randombytes": "2.0.5"
      }
    },
    "pump": {
@ -2574,7 +2566,7 @@
      "resolved": "https://registry.npmjs.org/pump/-/pump-1.0.3.tgz",
      "integrity": "sha512-8k0JupWme55+9tCVE+FS5ULT3K6AbgqrGa58lTT49RpyfwwcGedHqaC5LlQNdEAumn/wFsu6aPwkuPMioy8kqw==",
      "requires": {
-        "end-of-stream": "1.4.1",
+        "end-of-stream": "1.4.0",
        "once": "1.4.0"
      }
    },
@ -2584,19 +2576,19 @@
      "integrity": "sha1-wNWmOycYgArY4esPpSachN1BhF4="
    },
    "pxt-common-packages": {
-      "version": "0.15.4",
-      "resolved": "https://registry.npmjs.org/pxt-common-packages/-/pxt-common-packages-0.15.4.tgz",
-      "integrity": "sha1-hI1q5+UQ7vIuBqlOrIy66PmiePo=",
+      "version": "0.14.13",
+      "resolved": "https://registry.npmjs.org/pxt-common-packages/-/pxt-common-packages-0.14.13.tgz",
+      "integrity": "sha1-L/axrdv7I1g6xjGC8JXNx/Bv0Ss=",
      "requires": {
        "autoprefixer": "6.7.7",
-        "pxt-core": "3.0.8",
+        "pxt-core": "3.0.2",
        "rtlcss": "2.2.1"
      }
    },
    "pxt-core": {
-      "version": "3.0.8",
-      "resolved": "https://registry.npmjs.org/pxt-core/-/pxt-core-3.0.8.tgz",
-      "integrity": "sha1-wmvgLvyX1lV5ZB6EM9APj22/gIo=",
+      "version": "3.0.2",
+      "resolved": "https://registry.npmjs.org/pxt-core/-/pxt-core-3.0.2.tgz",
+      "integrity": "sha1-q7aCkAXRwvsmhPaeHR1S9osLK98=",
      "requires": {
        "bluebird": "3.5.1",
        "browserify": "13.3.0",
@ -2604,16 +2596,15 @@
        "faye-websocket": "0.11.1",
        "fuse.js": "2.6.1",
        "highlight.js": "9.12.0",
-        "keytar": "3.0.2",
        "lzma": "2.3.2",
-        "marked": "0.3.12",
+        "marked": "0.3.9",
        "node-hid": "0.5.7",
-        "postcss": "6.0.16",
+        "postcss": "6.0.15",
        "request": "2.83.0",
        "rimraf": "2.5.4",
        "rtlcss": "2.2.1",
        "serialport": "4.0.7",
-        "uglify-js": "3.3.5"
+        "uglify-js": "3.3.4"
      },
      "dependencies": {
        "ansi-styles": {
@ -2650,9 +2641,9 @@
          "integrity": "sha1-6CB68cx7MNRGzHC3NLXovhj4jVE="
        },
        "postcss": {
-          "version": "6.0.16",
-          "resolved": "https://registry.npmjs.org/postcss/-/postcss-6.0.16.tgz",
-          "integrity": "sha512-m758RWPmSjFH/2MyyG3UOW1fgYbR9rtdzz5UNJnlm7OLtu4B2h9C6gi+bE4qFKghsBRFfZT8NzoQBs6JhLotoA==",
+          "version": "6.0.15",
+          "resolved": "https://registry.npmjs.org/postcss/-/postcss-6.0.15.tgz",
+          "integrity": "sha512-v/SpyMzLbtkmh45zUdaqLAaqXqzPdSrw8p4cQVO0/w6YiYfpj4k+Wkzhn68qk9br+H+0qfddhdPEVnbmBPfXVQ==",
          "requires": {
            "chalk": "2.3.0",
            "source-map": "0.6.1",
@ -2704,9 +2695,9 @@
      "integrity": "sha1-nsYfeQSYdXB9aUFFlv2Qek1xHnM="
    },
    "randombytes": {
-      "version": "2.0.6",
-      "resolved": "https://registry.npmjs.org/randombytes/-/randombytes-2.0.6.tgz",
-      "integrity": "sha512-CIQ5OFxf4Jou6uOKe9t1AOgqpeU5fd70A8NPdHSGeYXqXsPe6peOwI0cUl88RWZ6sP1vPMV3avd/R6cZ5/sP1A==",
+      "version": "2.0.5",
+      "resolved": "https://registry.npmjs.org/randombytes/-/randombytes-2.0.5.tgz",
+      "integrity": "sha512-8T7Zn1AhMsQ/HI1SjcCfT/t4ii3eAqco3yOcSzS4mozsOz69lHLsoMXmF9nZgnFanYscnSlUSgs8uZyKzpE6kg==",
      "requires": {
        "safe-buffer": "5.1.1"
      }
@ -2716,14 +2707,14 @@
      "resolved": "https://registry.npmjs.org/randomfill/-/randomfill-1.0.3.tgz",
      "integrity": "sha512-YL6GrhrWoic0Eq8rXVbMptH7dAxCs0J+mh5Y0euNekPPYaxEmdVGim6GdoxoRzKW2yJoU8tueifS7mYxvcFDEQ==",
      "requires": {
-        "randombytes": "2.0.6",
+        "randombytes": "2.0.5",
        "safe-buffer": "5.1.1"
      }
    },
    "rc": {
-      "version": "1.2.3",
-      "resolved": "https://registry.npmjs.org/rc/-/rc-1.2.3.tgz",
-      "integrity": "sha1-UVdakA+N1oOBxxC0cSwhVMPiA1s=",
+      "version": "1.2.2",
+      "resolved": "https://registry.npmjs.org/rc/-/rc-1.2.2.tgz",
+      "integrity": "sha1-2M6ctX6NZNnHut2YdsfDTL48cHc=",
      "optional": true,
      "requires": {
        "deep-extend": "0.4.2",
@ -4319,7 +4310,7 @@
      "optional": true,
      "requires": {
        "bl": "1.2.1",
-        "end-of-stream": "1.4.1",
+        "end-of-stream": "1.4.0",
        "readable-stream": "2.3.3",
        "xtend": "4.0.1"
      }
@ -4431,9 +4422,9 @@
      "dev": true
    },
    "uglify-js": {
-      "version": "3.3.5",
-      "resolved": "https://registry.npmjs.org/uglify-js/-/uglify-js-3.3.5.tgz",
-      "integrity": "sha512-ZebM2kgBL/UI9rKeAbsS2J0UPPv7SBy5hJNZml/YxB1zC6JK8IztcPs+cxilE4pu0li6vadVSFqiO7xFTKuSrg==",
+      "version": "3.3.4",
+      "resolved": "https://registry.npmjs.org/uglify-js/-/uglify-js-3.3.4.tgz",
+      "integrity": "sha512-hfIwuAQI5dlXP30UtdmWoYF9k+ypVqBXIdmd6ZKBiaNHHvA8ty7ZloMe3+7S5AEKVkxHbjByl4DfRHQ7QpZquw==",
      "requires": {
        "commander": "2.12.2",
        "source-map": "0.6.1"
--- a/package.json
+++ b/package.json
@ -1,6 +1,6 @@
 {
  "name": "pxt-ev3",
-  "version": "0.0.60",
+  "version": "0.0.57",
  "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
  "private": true,
  "keywords": [
@ -45,7 +45,7 @@
  },
  "dependencies": {
    "pxt-common-packages": "0.15.4",
-    "pxt-core": "3.0.8"
+    "pxt-core": "3.0.5"
  },
  "scripts": {
    "test": "node node_modules/pxt-core/built/pxt.js travis"
--- a/pxtarget.json
+++ b/pxtarget.json
@ -18,7 +18,8 @@
        "libs/chassis",
        "libs/ev3",
        "libs/tests",
-        "libs/behaviors"
+        "libs/behaviors",
+        "libs/matrix"
    ],
    "simulator": {
        "autoRun": true,
--- a/sim/state/analog.ts
+++ b/sim/state/analog.ts
@ -30,8 +30,8 @@ namespace pxsim {
                data,
                beforeMemRead: () => {
                    //console.log("analog before read");
-                    util.map16Bit(data, AnalogOff.BatteryTemp, 21);
-                    util.map16Bit(data, AnalogOff.BatteryCurrent, 900);
+                    data[AnalogOff.BatteryTemp] = 21; // TODO simulate this
+                    data[AnalogOff.BatteryCurrent] = 100; // TODO simulate this
                    const inputNodes = ev3board().getInputNodes();
                    for (let port = 0; port < DAL.NUM_INPUTS; port++) {
                        const node = inputNodes[port];
--- a/sim/state/motornode.ts
+++ b/sim/state/motornode.ts
@ -40,10 +40,6 @@ namespace pxsim {
        }

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

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

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

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

            return this.contentGroup;
        }
--- a/sim/visuals/nodes/largeMotorView.ts
+++ b/sim/visuals/nodes/largeMotorView.ts
@ -34,14 +34,14 @@ namespace pxsim.visuals {
            this.syncedLabelG = pxsim.svg.child(this.element, 'g', {'transform': 'scale(0.5)'}) as SVGGElement;
            pxsim.svg.child(this.syncedLabelG, 'rect', {'rx': 15, 'ry': 15, 'x': 0, 'y': 0, 'width': 84, 'height': 34, 'fill': '#A8A9A8'});
            pxsim.svg.child(this.syncedLabelG, 'circle', {'cx': 17, 'cy': 17, 'r': 15, 'fill': 'white'});
-            const leftLabel = pxsim.svg.child(this.syncedLabelG, 'text', {'transform': 'translate(11, 22)', 'class': 'no-drag', 'style': 'isolation: isolate;font-size: 16px;fill: #A8A9A8;font-family: ArialMT, Arial'});
+            const leftLabel = pxsim.svg.child(this.syncedLabelG, 'text', {'transform': 'translate(11, 22)', 'style': 'isolation: isolate;font-size: 16px;fill: #A8A9A8;font-family: ArialMT, Arial'});
            leftLabel.textContent = a;

            pxsim.svg.child(this.syncedLabelG, 'rect', {'rx': 0, 'ry': 0, 'x': 37, 'y': 12, 'width': 10, 'height': 3, 'fill': '#ffffff'});
            pxsim.svg.child(this.syncedLabelG, 'rect', {'rx': 0, 'ry': 0, 'x': 37, 'y': 18, 'width': 10, 'height': 3, 'fill': '#ffffff'});
            
            pxsim.svg.child(this.syncedLabelG, 'circle', {'cx': 67, 'cy': 17, 'r': 15, 'fill': 'white'});
-            const rightLabel = pxsim.svg.child(this.syncedLabelG, 'text', {'transform': 'translate(61, 22)', 'class': 'no-drag', 'style': 'isolation: isolate;font-size: 16px;fill: #A8A9A8;font-family: ArialMT, Arial'});
+            const rightLabel = pxsim.svg.child(this.syncedLabelG, 'text', {'transform': 'translate(61, 22)', 'style': 'isolation: isolate;font-size: 16px;fill: #A8A9A8;font-family: ArialMT, Arial'});
            rightLabel.textContent = b;
        }

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

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

 span.blocklyTreeIcon {
Author	SHA1	Message	Date
Peli de Halleux	83793fc668	strings	2018-01-09 12:39:56 -08:00
Peli de Halleux	47ee87fe72	adding logging	2018-01-09 09:03:22 -08:00
Peli de Halleux	374fa36548	cholesky	2018-01-08 23:15:43 -08:00
Peli de Halleux	358ef7e19f	started on matrix library	2018-01-08 23:05:09 -08:00