0.0.75

threshold query api
Refactoring datalog in common packages (#249 )
2018-01-30 08:28:12 -08:00 · 2018-01-30 08:27:23 -08:00 · 2018-01-29 19:46:54 -08:00 · 2018-01-29 15:21:37 -08:00 · 2018-01-29 15:21:15 -08:00 · 2018-01-29 13:26:46 -08:00
118 changed files with 4210 additions and 616 deletions
--- a/README.md
+++ b/README.md
@ -5,7 +5,7 @@
 This repo contains the editor target hosted at https://d541eec2-1e96-4b7b-a223-da9d01d0337a.pxt.io/

 LEGO Auth: https://src.education.lego.com/groups/ev3-makecode (use Google Authenticator)
-LEGO Chat: https://chat.internal.education.lego.com/make-code/channels/town-square 
+LEGO Chat: https://chat.internal.education.lego.com/make-code/channels/town-square

 ## Local Dev setup

--- a/docs/SUMMARY.md
+++ b/docs/SUMMARY.md
@ -1,5 +1,43 @@
 # @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)
--- a/docs/about.md
+++ b/docs/about.md
@ -6,14 +6,14 @@ 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.Click, () => {
+    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.Click, () => {
+    motors.largeA.setSpeed(50)
 })
 ```

@ -22,10 +22,10 @@ The editor work in [most modern browsers](/browsers), work [offline](/offline) o
 ## [Compile and Flash: Your Program!](/device/usb)

 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.Click, () => {
+    motors.largeA.setSpeed(50)
 })
 ```
-
-```package
-light
-```
--- a/docs/coding/reverse-beeper-3.md
+++ b/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())
--- a/docs/coding/reversing-the-robot-1.md
+++ b/docs/coding/reversing-the-robot-1.md
@ -3,10 +3,10 @@
 ```blocks
 brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
    motors.largeBC.setSpeed(50)
-    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+    sensors.touch1.pauseUntil(TouchSensorEvent.Pressed)
    motors.largeBC.setSpeed(0)
    loops.pause(1000)
-    brick.setLight(LightsPattern.OrangeFlash)
+    brick.setLight(BrickLight.OrangeFlash)
    motors.largeBC.setSpeed(-50)
    loops.pause(2000)
    motors.largeBC.setSpeed(0)
--- a/docs/coding/reversing-the-robot-2.md
+++ b/docs/coding/reversing-the-robot-2.md
@ -2,12 +2,12 @@

 ```blocks
 brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
-    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+    sensors.touch1.pauseUntil(TouchSensorEvent.Pressed)
    motors.largeBC.setSpeed(50)
-    sensors.touchSensor2.pauseUntil(TouchSensorEvent.Pressed)
+    sensors.touch2.pauseUntil(TouchSensorEvent.Pressed)
    motors.largeBC.setSpeed(0)
    loops.pause(1000)
-    brick.setLight(LightsPattern.OrangeFlash)
+    brick.setLight(BrickLight.OrangeFlash)
    motors.largeBC.setSpeed(-50)
    loops.pause(2000)
    motors.largeBC.setSpeed(0)
--- a/docs/coding/reversing-the-robot-3.md
+++ b/docs/coding/reversing-the-robot-3.md
@ -3,14 +3,14 @@
 ```blocks
 brick.buttonEnter.onEvent(ButtonEvent.Click, function () {
    brick.showImage(images.eyesSleeping)
-    sensors.touchSensor1.pauseUntil(TouchSensorEvent.Pressed)
+    sensors.touch1.pauseUntil(TouchSensorEvent.Pressed)
    brick.showImage(images.eyesNeutral)
    motors.largeBC.setSpeed(50)
-    sensors.touchSensor2.pauseUntil(TouchSensorEvent.Pressed)
+    sensors.touch2.pauseUntil(TouchSensorEvent.Pressed)
    brick.showImage(images.eyesTiredMiddle)
    motors.largeBC.setSpeed(0)
    loops.pause(1000)
-    brick.setLight(LightsPattern.OrangeFlash)
+    brick.setLight(BrickLight.OrangeFlash)
    brick.showImage(images.eyesDizzy)
    motors.largeBC.setSpeed(-50)
    loops.pause(2000)
--- a/docs/coding/roaming-1.md
+++ b/docs/coding/roaming-1.md
@ -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)
--- a/docs/coding/roaming-2.md
+++ b/docs/coding/roaming-2.md
@ -23,17 +23,13 @@ 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)
--- a/docs/examples/core-set/gyroboy-blocks.md
+++ b/docs/examples/core-set/gyroboy-blocks.md
@ -0,0 +1,178 @@
+# Gyroboy
+
+Work in progress
+
+```blocks
+let motorSpeed1 = 0
+let motorSpeed2 = 0
+let motorSpeed3 = 0
+let motorSpeed = 0
+let fallen = false
+let motorSpeed0 = 0
+let oldControlDrive = 0
+let controlDrive = 0
+let power = 0
+let motorAngle = 0
+let gyroAngle = 0
+let controlSteering = 0
+let state = 0
+let motorPosition = 0
+let temp = 0
+let gyroRate = 0
+let timestep = 0
+sensors.color1.onColorDetected(ColorSensorColor.Red, function () {
+    music.playTone(2000, 100)
+    controlDrive = 0
+    controlSteering = 0
+})
+// reads the motor angle and computes the motor speed,
+// position
+function computeMotors() {
+    temp = motorAngle
+    // read angle on both motors
+    motorAngle = motors.largeD.angle() + motors.largeA.angle()
+    // and estimate speed as angle difference
+    motorSpeed0 = motorAngle - temp
+    // average last 4 speed readings
+    motorSpeed = (motorSpeed0 + motorSpeed1 + motorSpeed2 + motorSpeed3) / 4 / timestep
+    // shift all previous recorded speeds by one
+    motorSpeed3 = motorSpeed2
+    motorSpeed2 = motorSpeed1
+    motorSpeed1 = motorSpeed0
+    // compute position from speed
+    motorPosition = motorPosition + timestep * motorSpeed
+}
+// read the gyro rate and computes the angle
+function computeGyro() {
+    gyroRate = sensors.gyro2.rate()
+    gyroAngle = gyroAngle + timestep * gyroRate
+}
+function reset() {
+    state = 0
+    // sleeping
+    moods.sleeping.show();
+    // reset counters
+    motors.largeA.reset()
+    motors.largeD.reset()
+    // motors are unregulated
+    motors.largeA.setRegulated(false)
+    motors.largeD.setRegulated(false)
+    // clear the gyro sensor to remove drift
+    sensors.gyro2.reset()
+    // fall detection timer
+    control.timer2.reset()
+    // timestep computation timer
+    control.timer3.reset()
+    motorAngle = 0
+    motorPosition = 0
+    motorSpeed = 0
+    motorSpeed0 = 0
+    motorSpeed1 = 0
+    motorSpeed2 = 0
+    motorSpeed3 = 0
+    gyroRate = 0
+    gyroAngle = 0
+    fallen = false
+    power = 0
+    controlSteering = 0
+    controlDrive = 0
+    // awake
+    moods.awake.show();
+    gyroAngle = -0.25
+    state = 1;
+}
+// compute set point for motor position and required
+// motor power
+function computePower() {
+    // apply control and compute desired motor position
+    motorPosition -= timestep * controlDrive;
+    // estimate power based on sensor readings and control
+    // values
+    power = 0.8 * gyroRate + 15 * gyroAngle + (0.08 * motorSpeed + 0.12 * motorPosition) - 0.01 * controlDrive
+    // ensure that power stays within -100, 100
+    if (power > 100) {
+        power = 100
+    } else if (power < -100) {
+        power = -100
+    }
+}
+// test if the robot has fallen off
+function checkFallen() {
+    if (Math.abs(power) < 100) {
+        control.timer2.reset()
+    }
+    if (control.timer2.seconds() > 2) {
+        fallen = true
+    }
+}
+// stop all motors and wait for touch button to be
+// pressed
+function stop() {
+    motors.stopAllMotors()
+    state = 0
+    moods.knockedOut.show();
+    sensors.touch3.pauseUntil(TouchSensorEvent.Pressed)
+    moods.neutral.show();
+}
+sensors.ultrasonic4.onEvent(UltrasonicSensorEvent.ObjectNear, function () {
+    moods.dizzy.show()
+    controlSteering = 0
+    oldControlDrive = controlDrive
+    controlDrive = -10
+    motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+    motors.mediumC.setSpeed(-30, 60, MoveUnit.Degrees);
+    motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+    if (Math.randomRange(-1, 1) >= 1) {
+        controlSteering = 70
+    } else {
+        controlSteering = -70
+    }
+    loops.pause(4000)
+    music.playTone(2000, 100)
+    controlSteering = 0
+    controlDrive = oldControlDrive
+    moods.neutral.show()
+})
+// compute the elapsed time since the last iteration
+function computeTimestep() {
+    timestep = control.timer3.seconds()
+    control.timer3.reset()
+}
+sensors.color1.onColorDetected(ColorSensorColor.Green, function () {
+    moods.winking.show()
+    controlDrive = 150
+    controlSteering = 0
+})
+sensors.color1.onColorDetected(ColorSensorColor.Blue, function () {
+    moods.middleRight.show()
+    controlSteering = 70
+})
+// apply power to motors
+function controlMotors() {
+    motors.largeA.setSpeed(power + controlSteering * 0.1)
+    motors.largeD.setSpeed(power - controlSteering * 0.1)
+}
+sensors.color1.onColorDetected(ColorSensorColor.Yellow, function () {
+    moods.middleLeft.show()
+    controlSteering = -70
+})
+sensors.color1.onColorDetected(ColorSensorColor.White, function () {
+    moods.sad.show();
+    controlDrive = -75
+})
+timestep = 0.014
+// main loop
+loops.forever(function () {
+    reset()
+    while (!fallen) {
+        control.timer3.pauseUntil(5)
+        computeTimestep()
+        computeGyro()
+        computeMotors()
+        computePower()
+        controlMotors()
+        checkFallen()
+    }
+    stop()
+})
+```
--- a/docs/examples/core-set/gyroboy-labview.md
+++ b/docs/examples/core-set/gyroboy-labview.md
@ -0,0 +1,215 @@
+# Gyroboy LabView
+
+```typescript
+let mSum = 0;
+let mPos = 0;
+let mSpd = 0;
+let mD = 0;
+let mDP1 = 0;
+let mDP2 = 0;
+let mDP3 = 0;
+let Crdv = 0;
+let cLo = 0;
+let gAng = 0;
+let ok = false;
+let pwr = 0;
+let Cstr = 0;
+let Cdrv = 0;
+let gMn = 0;
+let gMx = 0;
+let gSum = 0;
+let gyro = 0;
+let gOS = 0;
+let gSpd = 0;
+let tInt = 0.014;
+let lpwr = 0
+let rpwr = 0
+let tStart = 0
+let st = 0
+let oldDr = 0
+
+function RST() {
+    motors.largeA.reset()
+    motors.largeD.reset()
+    motors.largeA.setRegulated(false)
+    motors.largeD.setRegulated(false)
+    sensors.gyro2.reset()
+    sensors.gyro2.rate()
+    control.timer2.reset()
+    loops.pause(5000)
+    mSum = 0;
+    mPos = 0;
+    mD = 0;
+    mDP1 = 0;
+    mDP2 = 0;
+    mDP3 = 0;
+    Crdv = 0;
+    cLo = 0;
+    gAng = 0;
+    ok = false;
+    pwr = 0;
+    st = 0;
+    Cstr = 0;
+    Cdrv = 0;
+}
+
+function OS() {
+    // OSL
+    do {
+        gMn = 1000;
+        gMx = -100;
+        gSum = 0;
+        // gChk
+        for (let i = 0; i < 200; i++) {
+            gyro = sensors.gyro2.rate()
+            gSum = gyro;
+            gMx = Math.max(gMx, gyro)
+            gMn = Math.min(gMn, gyro)
+            loops.pause(4);
+        }
+    } while (gMx - gMn > 2);
+    gOS = gSum / 200;
+}
+
+function GT() {
+    if (cLo == 0) {
+        tInt = 0.014;
+        control.timer1.reset();
+    } else {
+        tInt = control.timer1.seconds() / cLo;
+    }
+    cLo++;
+}
+
+function GG() {
+    gyro = sensors.gyro2.rate();
+    gOS = 0.0005 * gyro + (1 - 0.0005) * gOS
+    gSpd = gyro - gOS;
+    gAng = gAng + tInt * gSpd;
+}
+
+function GM() {
+    let temp = mSum
+    mSum = motors.largeD.angle() + motors.largeA.angle();
+    mD = mSum - temp;
+    mPos = mPos + mD;
+    mSpd = ((mDP1 + mDP2 + mDP3 + mD) / 4) / tInt;
+    mDP3 = mDP2;
+    mDP2 = mDP1;
+    mDP1 = mD;
+}
+
+function EQ() {
+    mPos = mPos - Cdrv * tInt;
+    pwr = (0.8 * gSpd + 15 * gAng) + (0.08 * mSpd + 0.12 * mPos) - 0.01 * Cdrv
+    if (pwr > 100) pwr = 100
+    else if (pwr < -100) pwr = -100
+}
+
+function cntrl() {
+    mPos = mPos - tInt * Cdrv
+    lpwr = (pwr + Cstr * 0.1)
+    rpwr = (pwr - Cstr * 0.1)
+}
+
+function CHK() {
+    if (Math.abs(pwr) < 100)
+        control.timer2.reset();
+    if (control.timer2.seconds() > 2) {
+        ok = true;
+    }
+}
+
+// M
+loops.forever(function () {
+    RST();
+    brick.showImage(images.eyesSleeping)
+    OS()
+    gAng = -0.25;
+    music.playSoundEffect(sounds.movementsSpeedUp)
+    brick.showImage(images.eyesAwake)
+    st = 1;
+    // BALANCE
+    while (!ok) {
+        GT();
+        let t1 = control.timer1.millis()
+        GG();
+        GM();
+        EQ();
+        cntrl();
+        motors.largeA.setSpeed(lpwr)
+        motors.largeD.setSpeed(rpwr)
+        CHK()
+        let t2 = control.timer1.millis();
+        let p = 5 - (t2 - t1);
+        loops.pause(Math.max(1, p))
+    }
+    motors.stopAllMotors()
+    st = 0;
+    brick.setLight(BrickLight.RedPulse);
+    brick.showImage(images.eyesKnockedOut)
+    music.playSoundEffect(sounds.movementsSpeedDown)
+    sensors.touch3.pauseUntil(TouchSensorEvent.Pressed)
+    brick.setLight(BrickLight.Off);
+})
+
+// BHV
+loops.forever(function () {
+    switch (st) {
+        case 0:
+            Cdrv = 0;
+            Cstr = 0;
+            break;
+        case 1:
+            Cdrv = 40;
+            loops.pause(4000);
+            Cdrv = 0;
+            music.playTone(1000, 100);
+            st = 2;
+            break;
+        case 2:
+            switch (sensors.color1.color()) {
+                case ColorSensorColor.Red:
+                    music.playTone(2000, 100);
+                    Cdrv = 0;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Green:
+                    music.playTone(2000, 100);
+                    Cdrv = 150;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Blue:
+                    music.playTone(2000, 100);
+                    Cstr = 70;
+                    break;
+                case ColorSensorColor.Yellow:
+                    music.playTone(2000, 100);
+                    Cstr = -70;
+                    break;
+                case ColorSensorColor.White:
+                    music.playTone(2000, 100);
+                    Cdrv = -75;
+                    break;
+            }
+            if (sensors.ultrasonic4.distance() < 25) {
+                Cstr = 0;
+                oldDr = Cdrv;
+                Cdrv = -10;
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(-30, 60, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                if (Math.randomRange(-1, 1) >= 1)
+                    Cstr = 70;
+                else
+                    Cstr = -70;
+                loops.pause(4000);
+                music.playTone(2000, 100)
+                Cstr = 0;
+                Cdrv = oldDr;
+            }
+            break;
+    }
+    loops.pause(80);
+})
+```
--- a/docs/examples/core-set/puppy-labview.md
+++ b/docs/examples/core-set/puppy-labview.md
@ -0,0 +1,390 @@
+# Puppy
+
+```typescript
+let P_T = 0;
+let ISS = 0;
+let F_T = 0;
+let P_C = 0;
+let F_C = 0;
+let DB_S = 0;
+let NS = false;
+let IBP = 0;
+let IAP = 0;
+let C = false;
+let TC = false;
+let OTC = false;
+let COL = 0;
+let OCOL = 0;
+let _C = false;
+let GTO = 0;
+
+function DN() {
+    motors.largeAD.setBrake(true);
+    motors.largeAD.tank(50, 50, 1, MoveUnit.Seconds);
+    loops.pause(100);
+    motors.largeA.clearCounts()
+    motors.largeD.clearCounts()
+}
+
+function MNRH() {
+    motors.mediumC.setBrake(true)
+    brick.showImage(images.legoEv3icon)
+    brick.setLight(BrickLight.OrangePulse)
+    while (!brick.buttonEnter.wasPressed()) {
+        if (brick.buttonUp.wasPressed()) {
+            motors.mediumC.setSpeed(-100);
+        } else if (brick.buttonDown.wasPressed()) {
+            motors.mediumC.setSpeed(100);
+        } else {
+            motors.mediumC.stop();
+        }
+    }
+    motors.mediumC.stop();
+    motors.mediumC.clearCounts();
+    brick.setLight(BrickLight.Green);
+}
+
+function IS(t: number) {
+    ISS = t;
+    switch (t) {
+        case 0:
+            brick.showImage(images.eyesNeutral);
+            break;
+        case 1:
+            brick.showImage(images.eyesSleeping);
+            break;
+        case 2:
+            brick.showImage(images.eyesTear);
+            // draw rect...
+            break;
+        case 3:
+            brick.showImage(images.eyesHurt);
+            break;
+        case 4:
+            brick.showImage(images.eyesAngry);
+            break;
+        case 5:
+            brick.showImage(images.eyesTiredMiddle);
+            break;
+        case 6:
+            brick.showImage(images.eyesTiredRight);
+            break;
+        case 7:
+            brick.showImage(images.eyesTiredLeft);
+            break;
+        case 8:
+            brick.showImage(images.eyesLove);
+            break;
+    }
+
+}
+
+function UP() {
+    if (motors.largeA.angle() > -50) {
+        control.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;
+    }
+})
+```
--- a/docs/examples/core-set/robotarm-labview.md
+++ b/docs/examples/core-set/robotarm-labview.md
@ -0,0 +1,51 @@
+# Robot Arm
+
+```typescript
+function INI() {
+    motors.largeB.setBrake(true)
+    motors.largeC.setBrake(true)
+    motors.mediumA.setBrake(true)
+    motors.largeB.setSpeed(-50)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds);
+    motors.mediumA.setSpeed(-50, 90, MoveUnit.Degrees);
+    motors.largeC.setSpeed(50)
+    sensors.touch1.pauseUntil(TouchSensorEvent.Pressed);
+    motors.largeC.setSpeed(-50, 0.86, MoveUnit.Rotations);
+}
+
+INI()
+
+let down = false;
+loops.forever(function () {
+    brick.showImage(images.informationQuestionMark)
+    brick.setLight(BrickLight.OrangePulse);
+    pauseUntil(() => (down = brick.buttonDown.wasPressed()) || brick.buttonUp.wasPressed())
+    brick.setLight(BrickLight.Off)
+    music.playSoundEffect(sounds.mechanicalAirRelease)
+    brick.showImage(images.informationAccept)
+    if (down) {
+        brick.showImage(images.informationForward)
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    } else {
+        brick.showImage(images.informationBackward)
+        motors.largeC.setSpeed(-65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees)
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds)
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    if (down) {
+        motors.largeC.setSpeed(-65, 0.86, MoveUnit.Rotations);
+    } else {
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees);
+    motors.mediumA.setSpeed(-30, 90, MoveUnit.Degrees);
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop()
+})
+```
--- a/docs/examples/crane-labview.md
+++ b/docs/examples/crane-labview.md
@ -0,0 +1,51 @@
+# Crane LabView
+
+```blocks
+function INI() {
+    motors.largeB.setBrake(true)
+    motors.largeC.setBrake(true)
+    motors.mediumA.setBrake(true)
+    motors.largeB.setSpeed(-50)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds);
+    motors.mediumA.setSpeed(-50, 90, MoveUnit.Degrees);
+    motors.largeC.setSpeed(50)
+    sensors.touch1.pauseUntil(TouchSensorEvent.Pressed);
+    motors.largeC.setSpeed(-50, 0.86, MoveUnit.Rotations);
+}
+
+INI()
+
+let down = false;
+loops.forever(function () {
+    brick.showImage(images.informationQuestionMark)
+    brick.setLight(BrickLight.OrangePulse);
+    pauseUntil(() => (down = brick.buttonDown.wasPressed()) || brick.buttonUp.wasPressed())
+    brick.setLight(BrickLight.Off)
+    music.playSoundEffect(sounds.mechanicalAirRelease)
+    brick.showImage(images.informationAccept)
+    if (down) {
+        brick.showImage(images.informationForward)
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    } else {
+        brick.showImage(images.informationBackward)
+        motors.largeC.setSpeed(-65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees)
+    motors.mediumA.setSpeed(30, 1, MoveUnit.Seconds)
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop();
+    if (down) {
+        motors.largeC.setSpeed(-65, 0.86, MoveUnit.Rotations);
+    } else {
+        motors.largeC.setSpeed(65, 0.85, MoveUnit.Rotations);
+    }
+    motors.largeB.setSpeed(20, 275, MoveUnit.Degrees);
+    motors.mediumA.setSpeed(-30, 90, MoveUnit.Degrees);
+    motors.largeB.setSpeed(-55)
+    pauseUntil(() => sensors.color3.light(LightIntensityMode.Reflected) > 25);
+    motors.largeB.stop()
+})
+```
--- a/docs/examples/gyro-boy-labview.md
+++ b/docs/examples/gyro-boy-labview.md
@ -0,0 +1,215 @@
+# Gyro Boy LabView
+
+```blocks
+let mSum = 0;
+let mPos = 0;
+let mSpd = 0;
+let mD = 0;
+let mDP1 = 0;
+let mDP2 = 0;
+let mDP3 = 0;
+let Crdv = 0;
+let cLo = 0;
+let gAng = 0;
+let ok = false;
+let pwr = 0;
+let Cstr = 0;
+let Cdrv = 0;
+let gMn = 0;
+let gMx = 0;
+let gSum = 0;
+let gyro = 0;
+let gOS = 0;
+let gSpd = 0;
+let tInt = 0.014;
+let lpwr = 0
+let rpwr = 0
+let tStart = 0
+let st = 0
+let oldDr = 0
+
+function RST() {
+    motors.largeA.reset()
+    motors.largeD.reset()
+    motors.largeA.setRegulated(false)
+    motors.largeD.setRegulated(false)
+    sensors.gyro2.reset()
+    sensors.gyro2.rate()
+    control.timer2.reset()
+    loops.pause(5000)
+    mSum = 0;
+    mPos = 0;
+    mD = 0;
+    mDP1 = 0;
+    mDP2 = 0;
+    mDP3 = 0;
+    Crdv = 0;
+    cLo = 0;
+    gAng = 0;
+    ok = false;
+    pwr = 0;
+    st = 0;
+    Cstr = 0;
+    Cdrv = 0;
+}
+
+function OS() {
+    // OSL
+    do {
+        gMn = 1000;
+        gMx = -100;
+        gSum = 0;
+        // gChk
+        for (let i = 0; i < 200; i++) {
+            gyro = sensors.gyro2.rate()
+            gSum = gyro;
+            gMx = Math.max(gMx, gyro)
+            gMn = Math.min(gMn, gyro)
+            loops.pause(4);
+        }
+    } while (gMx - gMn > 2);
+    gOS = gSum / 200;
+}
+
+function GT() {
+    if (cLo == 0) {
+        tInt = 0.014;
+        control.timer1.reset();
+    } else {
+        tInt = control.timer1.seconds() / cLo;
+    }
+    cLo++;
+}
+
+function GG() {
+    gyro = sensors.gyro2.rate();
+    gOS = 0.0005 * gyro + (1 - 0.0005) * gOS
+    gSpd = gyro - gOS;
+    gAng = gAng + tInt * gSpd;
+}
+
+function GM() {
+    let temp = mSum
+    mSum = motors.largeD.angle() + motors.largeA.angle();
+    mD = mSum - temp;
+    mPos = mPos + mD;
+    mSpd = ((mDP1 + mDP2 + mDP3 + mD) / 4) / tInt;
+    mDP3 = mDP2;
+    mDP2 = mDP1;
+    mDP1 = mD;
+}
+
+function EQ() {
+    mPos = mPos - Cdrv * tInt;
+    pwr = (0.8 * gSpd + 15 * gAng) + (0.095 * mSpd + 0.13 * mPos) - 0.01 * Cdrv
+    if (pwr > 100) pwr = 100
+    else if (pwr < -100) pwr = -100
+}
+
+function cntrl() {
+    mPos = mPos - tInt * Cdrv
+    lpwr = (pwr + Cstr * 0.1)
+    rpwr = (pwr - Cstr * 0.1)
+}
+
+function CHK() {
+    if (Math.abs(pwr) < 100)
+        control.timer2.reset();
+    if (control.timer2.seconds() > 2) {
+        ok = true;
+    }
+}
+
+// M
+loops.forever(function () {
+    RST();
+    brick.showImage(images.eyesSleeping)
+    OS()
+    gAng = -0.25;
+    music.playSoundEffect(sounds.movementsSpeedUp)
+    brick.showImage(images.eyesAwake)
+    st = 1;
+    // BALANCE
+    while (!ok) {
+        GT();
+        let t1 = control.timer1.millis()
+        GG();
+        GM();
+        EQ();
+        cntrl();
+        motors.largeA.setSpeed(lpwr)
+        motors.largeD.setSpeed(rpwr)
+        CHK()
+        let t2 = control.timer1.millis();
+        let p = 5 - (t2 - t1);
+        loops.pause(Math.max(1, p))
+    }
+    motors.stopAllMotors()
+    st = 0;
+    brick.setLight(BrickLight.RedPulse);
+    brick.showImage(images.eyesKnockedOut)
+    music.playSoundEffect(sounds.movementsSpeedDown)
+    sensors.touch3.pauseUntil(TouchSensorEvent.Pressed)
+    brick.setLight(BrickLight.Off);
+})
+
+// BHV
+loops.forever(function () {
+    switch (st) {
+        case 0:
+            Cdrv = 0;
+            Cstr = 0;
+            break;
+        case 1:
+            Cdrv = 40;
+            loops.pause(4000);
+            Cdrv = 0;
+            music.playTone(1000, 100);
+            st = 2;
+            break;
+        case 2:
+            switch (sensors.color1.color()) {
+                case ColorSensorColor.Red:
+                    music.playTone(2000, 100);
+                    Cdrv = 0;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Green:
+                    music.playTone(2000, 100);
+                    Cdrv = 150;
+                    Cstr = 0;
+                    break;
+                case ColorSensorColor.Blue:
+                    music.playTone(2000, 100);
+                    Cstr = 70;
+                    break;
+                case ColorSensorColor.Yellow:
+                    music.playTone(2000, 100);
+                    Cstr = -70;
+                    break;
+                case ColorSensorColor.White:
+                    music.playTone(2000, 100);
+                    Cdrv = -75;
+                    break;
+            }
+            if (sensors.ultrasonic4.distance() < 25) {
+                Cstr = 0;
+                oldDr = Cdrv;
+                Cdrv = -10;
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(-30, 60, MoveUnit.Degrees);
+                motors.mediumC.setSpeed(30, 30, MoveUnit.Degrees);
+                if (Math.randomRange(-1, 1) >= 1)
+                    Cstr = 70;
+                else
+                    Cstr = -70;
+                loops.pause(4000);
+                music.playTone(2000, 100)
+                Cstr = 0;
+                Cdrv = oldDr;
+            }
+            break;
+    }
+    loops.pause(80);
+})
+```
--- a/docs/examples/happy-unhappy.md
+++ b/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(TouchSensorEvent.Pressed, function () {
    brick.showImage(images.expressionsBigSmile)
 })
-sensors.touchSensor1.onEvent(TouchSensorEvent.Released, function () {
+sensors.touch1.onEvent(TouchSensorEvent.Released, function () {
    brick.showImage(images.expressionsSick)
 })
 ```
--- a/docs/lessons.md
+++ b/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."
+}]
+```
--- a/docs/lessons/line-detection.md
+++ b/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.
+
+
+
+
+
--- a/docs/lessons/make-it-move-tutorial.md
+++ b/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.
--- a/docs/lessons/make-it-move.md
+++ b/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.
--- a/docs/maker/intruder-detector.md
+++ b/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)
 })
 ```
--- a/docs/maker/puppet.md
+++ b/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()
 })
 ```
--- a/docs/maker/security-gadget.md
+++ b/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(TouchSensorEvent.Released, function () {
+    music.playSoundEffectUntilDone(sounds.informationActivate);
 })
 ```
--- a/docs/maker/sound-machine.md
+++ b/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)
 })
 ``` 
--- a/docs/maker/sound-of-color.md
+++ b/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))
 })
 ```
--- a/docs/static/download/connect.svg
+++ b/docs/static/download/connect.svg
@ -0,0 +1,331 @@
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+                </g>
+              </g>
+            </g>
+          </g>
+        </g>
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+    </g>
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+          </g>
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+        </g>
+        <g id="g9127" transform="translate(835.4 137)">
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+        <g id="g9159" transform="translate(842.2 103.9)">
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+    </g>
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+          </g>
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+    </g>
+    <g transform="matrix(.35278 0 0 -.35278 -239.7 326.4)" id="g9185">
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+          <path d="M0 0h2.8v-3.4H0A1.7 1.7 0 0 0 0 0" id="path9195" fill="#a9aba9"/>
+        </g>
+        <g id="g9197" transform="translate(850.7 109)">
+          <path d="M0 0h-2.8v3.4H0A1.7 1.7 0 0 0 0 0" id="path9199" fill="#a9aba9"/>
+        </g>
+        <g id="g9201" transform="translate(842.4 112.3)">
+          <path d="M0 0h3.3v-3.3H-.1V0H0" id="path9203" fill="#393939"/>
+        </g>
+        <g id="g9205" transform="translate(842.3 116.6)">
+          <path d="M0 0h3.5L6-2.6 5-3.7v-2H4v1.2c0 .4-.4.8-.8.8h-3a.7.7 0 0 1-.7-.7v-1.3h-1v2l-1.1 1z" id="path9207" fill="#a9aba9"/>
+        </g>
+        <g id="g9209" transform="translate(845.8 104.6)">
+          <path d="M0 0h-3.5L-6 2.7l1.1 1v2h1V4.6c0-.5.4-.9.8-.9h3a.7.7 0 0 1 .8.7v1.3h1v-2l1-1z" id="path9211" fill="#a9aba9"/>
+        </g>
+        <path d="M843.6 124.1h.8v-3.7h-.8z" id="path9213" fill="#393939"/>
+        <path d="M843.6 120.5h.8V119h-.8z" id="path9215" fill="#9b9b9b"/>
+      </g>
+    </g>
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+          </g>
+        </g>
+      </g>
+    </g>
+    <g transform="matrix(.35278 0 0 -.35278 -239.7 326.4)" id="g9237">
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+        <path d="M843.6 118.8h.8v-1.6h-.8z" id="path9245" fill="#818181"/>
+        <g id="g9247" transform="translate(832.5 118.8)">
+          <path d="M0 0h6.5v-1.6L4.8-3.2H.5c-.3 0-.5.3-.5.6z" id="path9249" fill="#a9aba9"/>
+        </g>
+        <path d="M852.5 99.6h3.3v-3.3h-3.3z" id="path9251" fill="#fff"/>
+      </g>
+    </g>
+    <g transform="matrix(.35278 0 0 -.35278 -239.7 326.4)" id="g9253">
+      <g id="g9255" clip-path="url(#clipPath9259)">
+        <g id="g9261" transform="translate(855.6 98.2)">
+          <path d="M0 0v-.3C-.3-.7-.4-1-.7-1-.9-1-1-1-1-.8a.5.5 0 0 0-.5-.2l-.3.1h-.8l-.3.1c0 .4.2.6.3 1h.5l.4.2.3-.1h.6V.2h.1l.4.2.2-.1V0m-3-2H.2v3.4H-3z" id="path9263" fill="#fe0"/>
+        </g>
+        <g id="g9265" transform="translate(855.7 98.1)">
+          <path d="M0 0l-.1-.4C-.2-.7-.5-1-.7-1c-.2 0-.3 0-.4.2a.6.6 0 0 0-.4-.2l-.3.1a.6.6 0 0 0-.3 0h-.6c-.2 0-.4 0-.4.3l.3.9.4.2.2-.1.4.1h.6l.4-.1h.7L0 0m-3.2-1.8H.1v3.3h-3.3z" id="path9267" fill="#d52715"/>
+        </g>
+        <path d="M855.8 96.3h-3.3v3.3h3.3zm-3.3 0h3.3v3.3h-3.3z" id="path9269" fill="#171714"/>
+        <g id="g9271" transform="translate(855.7 98.7)">
+          <path d="M0 0v-.2.2m0 0v-.1m0 0zm0 0z" id="path9273" fill="#171714"/>
+        </g>
+        <g id="g9275" transform="translate(855.3 98.2)">
+          <path d="M0 0l-.2-.5h-.1c0 .2 0 .4.2.5H0m.2-.1L.1-.6l-.4-.2c-.1 0-.3 0-.3.2l.1.5c.1.2.2.4.5.4s.3-.3.2-.4m-1 .2l-.3-.6.2.1v.1l.1.1c.2 0 .2-.1.2-.2 0-.2-.2-.4-.5-.4-.1 0-.2 0-.2.2V0c.2.2.3.4.6.4.1 0 .2 0 .2-.2L-.6 0s-.2 0-.1.1m-1-.4v-.1h.3c0-.2-.2-.3-.3-.3-.1 0-.2 0-.3.2l.2.7.4.2.2-.1c0-.1 0-.2-.2-.2l-.2-.1.3-.1c0-.2-.2-.2-.3-.1m-.6-.2h.2c0-.3-.2-.3-.3-.3 0 0-.2 0-.2.2 0 .3.2.5.3.8h.2c0-.2 0-.5-.2-.7M0 .4C-.2.4-.3.4-.4.2c-.1.2-.2.2-.4.2L-1 .3l-.3.1c-.1 0-.3 0-.4-.2v.1h-.5l-.3-1s.1-.2.3-.2l.3.1.3-.1.3.1.3-.1c.2 0 .3 0 .4.2l.4-.2c.3 0 .5.2.6.6V0a.3.3 0 0 1-.3.4" id="path9277" fill="#171714"/>
+        </g>
+      </g>
+    </g>
+    <g transform="matrix(.35278 0 0 -.35278 -239.7 326.4)" id="g9279">
+      <g id="g9281" clip-path="url(#clipPath9285)">
+        <g id="g9287" transform="translate(838.7 98.2)">
+          <path d="M0 0v-.3h-.5l-.1-.1v-.4H0v-.3h-1v.2h-.4v-.6h2V.4h-2v-.5h.4V0h1z" id="path9289" fill="#f2f2f2"/>
+        </g>
+        <g id="g9291" transform="translate(836.9 98.7)">
+          <path d="M0 0h-.4l-.2-.1-.5-1.2-.6 1.2-.1.1h-.5v-.1l.8-1.8.2-.1h.5l.9 2H0" id="path9293" fill="#f2f2f2"/>
+        </g>
+        <g id="g9295" transform="translate(834.2 97.9)">
+          <path d="M0 0h.1v-.4h-1.5v-.4H0L.1-1v-.3H-2v2h2V.3h-1.5V0z" id="path9297" fill="#f2f2f2"/>
+        </g>
+        <g id="g9299" transform="translate(820.8 131.1)">
+          <path d="M0 0l-1.9-2.9 7.3-1C4.3 1.3 4 1.7 3.4 5.2l-2-3a39.5 39.5 0 0 1-4.1 3.2c-1.4.8-3 1.3-4.7 1.5-2.1 0-4.3-.2-6.4-.8l.1-3.3C-9 4.8-3.5 3.8 0 0" id="path9301" fill="#303030"/>
+        </g>
+        <g id="g9303" transform="translate(767 107.4)">
+          <path d="M0 0c1.6 2.3 3.8 4 6.4 5" id="path9305" fill="none" stroke="#303030"/>
+        </g>
+        <g id="g9307" transform="translate(766.2 110.4)">
+          <path d="M0 0c1.6 2.3 3.8 4 6.4 5" id="path9309" fill="none" stroke="#303030"/>
+        </g>
+        <g id="g9311" transform="translate(765.6 113.3)">
+          <path d="M0 0c1.6 2.3 3.8 4 6.4 5" id="path9313" fill="none" stroke="#303030"/>
+        </g>
+      </g>
+    </g>
+  </g>
+</svg>
--- a/docs/static/filelogo.svg
+++ b/docs/static/filelogo.svg
@ -0,0 +1,4 @@
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 32 32">
+  <path fill="#aa278f" d="M32 15.994v-.011c0-.108-.005-.209-.016-.303h-.001c-.032-.285-.112-.504-.239-.656-.171-.204-.459-.435-.864-.691a4.275 4.275 0 0 1-.986-.827c-.252-.296-.442-.734-.57-1.316-.049-.227-.087-.719-.112-1.473V8.696c0-.38-.031-.723-.076-1.049a12.313 12.313 0 0 0-.004-.188c-.009-.782-.18-1.475-.513-2.078a3.462 3.462 0 0 0-1.416-1.401c-.611-.33-1.305-.495-2.081-.495H6.271s-.674.067-.962.201a4.021 4.021 0 0 0-.521.295 3.502 3.502 0 0 0-.798.59c-.693.688-1.061 1.601-1.113 2.734a9.172 9.172 0 0 0-.088 1.283v2.558a6.802 6.802 0 0 1-.183 1.373 2.311 2.311 0 0 1-.532 1.033 2.67 2.67 0 0 0-.202.196c-.265.238-.638.511-1.13.823-.404.262-.64.633-.715 1.108l-.002.023a2.195 2.195 0 0 0-.023.287L0 16.006v.011c0 .108.005.209.016.303h.001c.032.285.112.504.239.656.171.204.459.435.864.691.406.256.735.532.986.827.252.296.442.734.57 1.316.049.227.087.719.112 1.473v2.019c0 .38.031.723.076 1.049l.004.188c.009.782.18 1.475.513 2.078a3.462 3.462 0 0 0 1.416 1.401c.611.33 1.305.495 2.081.495H25.73c.35 0 .673-.067.961-.201.184-.085.356-.187.521-.296.291-.159.559-.353.798-.59.693-.688 1.061-1.601 1.113-2.734.056-.398.088-.823.088-1.283v-2.558c.019-.495.079-.953.183-1.373.104-.419.282-.762.532-1.033a2.67 2.67 0 0 0 .202-.196c.265-.238.638-.511 1.13-.823.404-.262.64-.633.715-1.108h.002l.002-.023c.013-.092.022-.187.023-.287v-.014z"/>
+  <path fill="#fff" d="M27.366 16.522l.819-.518-.821-.516a4.547 4.547 0 0 1-.927-.744 3.033 3.033 0 0 1-.554-.896 5.166 5.166 0 0 1-.328-1.339 16.319 16.319 0 0 1-.103-1.961c0-.781-.016-1.365-.05-1.786-.039-.489-.123-.852-.258-1.112a1.36 1.36 0 0 0-.718-.661c-.223-.089-.527-.154-.924-.199a.532.532 0 0 1-.356-.213c-.11-.133-.165-.344-.165-.627 0-.41.086-.811 1.121-.811.636 0 1.196.127 1.666.376.464.247.818.589 1.085 1.046.267.458.406.995.413 1.597.064 3.554.129 4.265.184 4.492.153.63.382 1.109.701 1.464.287.319.635.602 1.035.843.29.175.501.341.627.493.035.043.116.181.116.554 0 .383-.12.628-.39.794-.606.373-1.041.699-1.331.997a2.734 2.734 0 0 0-.678 1.24c-.112.437-.177 1.05-.198 1.875-.02.773-.042 1.741-.066 2.904-.021.941-.306 1.668-.873 2.222-.568.554-1.317.823-2.291.823-.409 0-.71-.077-.895-.23-.155-.128-.226-.32-.226-.604 0-.179.03-.336.093-.479a.682.682 0 0 1 .188-.268.463.463 0 0 1 .24-.094c.414-.055.725-.127.951-.219.317-.131.567-.378.723-.716.124-.269.2-.625.233-1.089.029-.402.044-.968.044-1.725.016-1.061.077-1.896.182-2.481.095-.53.274-.987.533-1.359.261-.375.665-.736 1.198-1.073zm-16.618 6.519h10.458a.75.75 0 0 0 .751-.751l-.001-3.709c-.134-.449-.518-.492-.878-.15-.033 0-.393.443-1.22.443a2.033 2.033 0 0 1-1.944-1.715h-.011a6.59 6.59 0 0 1 0-.526h.011a2.03 2.03 0 0 1 1.944-1.715c.827 0 1.187.443 1.22.443.35.332.738.252.879-.147l.001-3.432a.769.769 0 0 0-.562-.741c-.061.016-3.259 0-3.259 0-.786.065-1.063-.466-.624-.928 0-.033.443-.393.443-1.22a2.033 2.033 0 0 0-1.715-1.944v-.011a6.59 6.59 0 0 0-.526 0v.011A2.03 2.03 0 0 0 14 8.893c0 .827.443 1.187.443 1.22.439.462.254.97-.624.928 0 0-3.198.016-3.259 0a.77.77 0 0 0-.562.741V22.29a.75.75 0 0 0 .75.751zm-6.197-3.692c.055.227.12.938.184 4.492.007.602.146 1.138.413 1.597.267.458.622.8 1.085 1.046.47.25 1.03.376 1.666.376 1.035 0 1.121-.4 1.121-.811 0-.283-.056-.493-.165-.627a.537.537 0 0 0-.356-.213c-.397-.045-.701-.11-.925-.199a1.367 1.367 0 0 1-.718-.661c-.135-.259-.219-.623-.258-1.112a24.159 24.159 0 0 1-.05-1.786c0-.751-.035-1.41-.103-1.961a5.174 5.174 0 0 0-.329-1.339 3.028 3.028 0 0 0-.554-.896 4.52 4.52 0 0 0-.927-.744l-.821-.516.819-.518c.533-.337.936-.698 1.199-1.075.259-.372.438-.829.533-1.359.105-.585.166-1.419.182-2.481 0-.757.014-1.323.044-1.725.033-.464.109-.82.233-1.089.156-.337.406-.584.723-.715.226-.092.537-.163.951-.219a.463.463 0 0 0 .24-.094.662.662 0 0 0 .189-.267 1.18 1.18 0 0 0 .093-.479c0-.284-.072-.476-.226-.604-.186-.153-.487-.23-.895-.23-.974 0-1.723.269-2.291.823-.567.554-.852 1.281-.873 2.222a588.806 588.806 0 0 1-.065 2.904c-.021.825-.086 1.438-.198 1.875a2.731 2.731 0 0 1-.679 1.24c-.289.298-.725.624-1.331.997-.27.166-.39.41-.39.794 0 .373.081.511.116.554.127.153.338.319.627.493.4.24.748.524 1.035.843.319.355.548.834.701 1.464z"/>
+</svg>
--- a/docs/static/hero.png
+++ b/docs/static/hero.png
--- a/docs/static/lessons/line-detection.jpg
+++ b/docs/static/lessons/line-detection.jpg
--- a/docs/static/lessons/line-detection/car-driving.jpg
+++ b/docs/static/lessons/line-detection/car-driving.jpg
--- a/docs/static/lessons/line-detection/color-sensor-driving.jpg
+++ b/docs/static/lessons/line-detection/color-sensor-driving.jpg
--- a/docs/static/lessons/make-it-move.jpg
+++ b/docs/static/lessons/make-it-move.jpg
--- a/docs/static/lessons/make-it-move/locomotion-no-wheels.jpg
+++ b/docs/static/lessons/make-it-move/locomotion-no-wheels.jpg
--- a/docs/static/lessons/make-it-move/walker-bot.jpg
+++ b/docs/static/lessons/make-it-move/walker-bot.jpg
--- a/editor/extension.ts
+++ b/editor/extension.ts
@ -8,7 +8,7 @@ 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 = {
@ -28,7 +28,95 @@ pxt.editor.initExtensionsAsync = function(opts: pxt.editor.ExtensionOptions): Pr
            selector: "turnratio",
            editor: FieldTurnRatio
        }],
-        deployCoreAsync
+        deployCoreAsync,
+        showUploadInstructionsAsync: (fn: string, url: string, confirmAsync: (options: any) => Promise<number>) => {
+            let resolve: (thenableOrResult?: void | PromiseLike<void>) => void;
+            let reject: (error: any) => void;
+            const deferred = new Promise<void>((res, rej) => {
+                resolve = res;
+                reject = rej;
+            });
+            const boardName = pxt.appTarget.appTheme.boardName || "???";
+            const boardDriveName = pxt.appTarget.appTheme.driveDisplayName || pxt.appTarget.compile.driveName || "???";
+
+            // https://msdn.microsoft.com/en-us/library/cc848897.aspx
+            // "For security reasons, data URIs are restricted to downloaded resources. 
+            // Data URIs cannot be used for navigation, for scripting, or to populate frame or iframe elements"
+            const downloadAgain = !pxt.BrowserUtils.isIE() && !pxt.BrowserUtils.isEdge();
+            const docUrl = pxt.appTarget.appTheme.usbDocs;
+            const saveAs = pxt.BrowserUtils.hasSaveAs();
+
+            const htmlBody = `
+            <div class="ui three column grid stackable">
+                <div class="column">
+                    <div class="ui">
+                        <div class="image">
+                            <img class="ui medium rounded image" src="./static/download/connect.svg" style="height:109px;width:261px;margin-bottom:1rem;">
+                        </div>
+                        <div class="content">
+                            <div class="description">
+                                <span class="ui yellow circular label">1</span>
+                                <strong>${lf("Connect EV3 to computer with USB cable")}</strong>
+                                <br/>
+                                ${lf("Use the miniUSB port on top of EV3 brick")}
+                            </div>
+                        </div>
+                    </div>
+                </div>
+                <div class="column">
+                    <div class="ui">
+                        <div class="image">
+                            <img class="ui medium rounded image" src="./static/download/firmware.svg" style="height:109px;width:261px;margin-bottom:1rem;">
+                        </div>
+                        <div class="content">
+                            <div class="description">
+                                <span class="ui blue circular label">2</span>
+                                <strong>${lf("Make sure you have the latest EV3 firmware")}</strong>
+                                <br/>
+                                <a href="" target="_blank">${lf("Click here to update to latest firmware")}</a>
+                            </div>
+                        </div>
+                    </div>
+                </div>
+                <div class="column">
+                    <div class="ui">
+                        <div class="image">
+                            <img class="ui medium rounded image" src="./static/download/transfer.svg" style="height:109px;width:261px;margin-bottom:1rem;">
+                        </div>
+                        <div class="content">
+                            <div class="description">
+                                <span class="ui blue circular label">3</span>
+                                ${lf("Move the .uf2 file to EV3 brick")}
+                                <br/>
+                                ${lf("Locate the downloaded .uf2 file and drag it to the EV3 drive")}
+                            </div>
+                        </div>
+                    </div>
+                </div>
+            </div>`;
+
+            return confirmAsync({
+                header: lf("Download to your EV3"),
+                htmlBody,
+                hasCloseIcon: true,
+                hideCancel: true,
+                hideAgree: false,
+                agreeLbl: lf("I got it"),
+                buttons: [downloadAgain ? {
+                    label: fn,
+                    icon: "download",
+                    class: "lightgrey focused",
+                    url,
+                    fileName: fn
+                } : undefined, docUrl ? {
+                    label: lf("Help"),
+                    icon: "help",
+                    class: "lightgrey",
+                    url: docUrl
+                } : undefined]
+                //timeout: 20000
+            }).then(() => { });
+        }
    };
    initAsync().catch(e => {
        // probably no HID - we'll try this again upon deployment
--- a/libs/automation/_locales/automation-jsdoc-strings.json
+++ b/libs/automation/_locales/automation-jsdoc-strings.json
@ -0,0 +1,26 @@
+{
+  "automation": "Automation, process control and robotic controllers",
+  "automation.Behavior": "A behavior",
+  "automation.Behavior.update": "Called on each behavior iteration even for suppresed behaviors",
+  "automation.Behavior.update|param|elapsed": "milli seconds since last call",
+  "automation.BehaviorManager": "A manager for behaviors",
+  "automation.BehaviorManager.add": "Adds a new behavior to the behavior manager",
+  "automation.BehaviorManager.add|param|behavior": "the behavior to add",
+  "automation.BehaviorManager.start": "Starts the behavior control loop",
+  "automation.BehaviorManager.stop": "Stops the execution loop",
+  "automation.PIDController": "A PID controller.\n* Reference: Feedback System, Karl Johan Astrom & Rickard M. Murry",
+  "automation.PIDController.compute": "Computes the output based on the system state",
+  "automation.PIDController.setControlSaturation": "Sets the control saturation values",
+  "automation.PIDController.setControlSaturation|param|high": "highest control value, eg: 100",
+  "automation.PIDController.setControlSaturation|param|low": "lowest control value, eg: -100",
+  "automation.PIDController.setDerivativeFilter": "Sets the derivative filter gain",
+  "automation.PIDController.setDerivativeFilter|param|N": "the filter gain, eg:10",
+  "automation.PIDController.setGains": "Sets the PID gains",
+  "automation.PIDController.setGains|param|b": "setpoint weight, eg: 0.9",
+  "automation.PIDController.setGains|param|kd": "derivative gain",
+  "automation.PIDController.setGains|param|ki": "integral gain",
+  "automation.PIDController.setGains|param|kp": "proportional gain",
+  "automation.PIDController.setPoint": "Updates the desired setpoint",
+  "automation.addBehavior": "Adds the behavior and starts it",
+  "automation.addBehavior|param|behavior": "a behavior"
+}
--- a/libs/automation/_locales/automation-strings.json
+++ b/libs/automation/_locales/automation-strings.json
@ -0,0 +1,12 @@
+{
+  "automation.PIDController.compute|block": "%pid|compute for timestep %timestep|(ms) at state %y",
+  "automation.PIDController.setControlSaturation|block": "set %pid|control saturation from %low|to %high",
+  "automation.PIDController.setDerivativeFilter|block": "set %pid|derivative filter %N",
+  "automation.PIDController.setGains|block": "set %pid|gains kp %kp|ki %ki|kd %kd",
+  "automation.PIDController.setPoint|block": "set %pid|point to %ysp",
+  "automation.addBehavior|block": "add behavior %behavior",
+  "automation|block": "automation",
+  "{id:category}Automation": "Automation",
+  "{id:group}Behaviors": "Behaviors",
+  "{id:group}PID": "PID"
+}
--- a/libs/automation/pxt.json
+++ b/libs/automation/pxt.json
@ -1,6 +1,6 @@
 {
-    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/behaviors",
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/automation",
    "dependencies": {
-        "core": "file:../ev3"
+        "ev3": "file:../ev3"
    }
 }
--- a/libs/base/_locales/base-jsdoc-strings.json
+++ b/libs/base/_locales/base-jsdoc-strings.json
@ -134,7 +134,7 @@
  "control.panic": "Display an error code and stop the program.",
  "control.panic|param|code": "an error number to display. eg: 5",
  "control.reset": "Reset the device.",
-  "control.runInBackground": "Run other code in the background.",
+  "control.runInParallel": "Run other code in the parallel.",
  "control.waitForEvent": "Blocks the calling thread until the specified event is raised.",
  "control.waitMicros": "Block the current fiber for the given microseconds",
  "control.waitMicros|param|micros": "number of micro-seconds to wait. eg: 4",
--- a/libs/base/_locales/base-strings.json
+++ b/libs/base/_locales/base-strings.json
@ -25,10 +25,11 @@
  "control.onEvent|block": "on event|from %src|with value %value",
  "control.panic|block": "panic %code",
  "control.reset|block": "reset",
-  "control.runInBackground|block": "run in background",
+  "control.runInParallel|block": "run in parallel",
  "control.waitForEvent|block": "wait for event|from %src|with value %value",
  "control.waitMicros|block": "wait (µs)%micros",
  "control|block": "control",
+  "fieldeditors|block": "fieldeditors",
  "loops.forever|block": "forever",
  "loops.pause|block": "pause %pause=timePicker|ms",
  "loops|block": "loops",
--- a/libs/base/pxt.json
+++ b/libs/base/pxt.json
@ -17,7 +17,8 @@
        "control.cpp",
        "control.ts",
        "serial.cpp",
-        "serial.ts"
+        "serial.ts",
+        "fieldeditors.ts"
    ],
    "testFiles": [
        "test.ts"
--- a/libs/base/shims.d.ts
+++ b/libs/base/shims.d.ts
@ -118,11 +118,11 @@ declare namespace control {
    function waitMicros(micros: int32): void;

    /**
-     * Run other code in the background.
+     * Run other code in the parallel.
     */
-    //% help=control/run-in-background blockAllowMultiple=1 afterOnStart=true
-    //% blockId="control_run_in_background" block="run in background" blockGap=8 shim=control::runInBackground
-    function runInBackground(a: () => void): void;
+    //% help=control/run-in-parallel handlerStatement=1
+    //% blockId="control_run_in_parallel" block="run in parallel" blockGap=8 shim=control::runInParallel
+    function runInParallel(a: () => void): void;

    /**
     * Blocks the calling thread until the specified event is raised.
--- a/libs/behaviors/_locales/behaviors-jsdoc-strings.json
+++ b/libs/behaviors/_locales/behaviors-jsdoc-strings.json
@ -1,14 +0,0 @@
-{
-  "behaviors": "Behavior drive blocks",
-  "behaviors.Behavior": "A behavior",
-  "behaviors.BehaviorManager": "A manager for behaviors",
-  "behaviors.BehaviorManager.add": "Adds a new behavior to the behavior manager",
-  "behaviors.BehaviorManager.add|param|behavior": "the behavior to add",
-  "behaviors.BehaviorManager.start": "Starts the behavior control loop",
-  "behaviors.BehaviorManager.stop": "Stops the execution loop",
-  "behaviors.addBehavior": "Adds the behavior and starts it",
-  "behaviors.addBehavior|param|behavior": "a behavior",
-  "behaviors.avoidCrash": "A behavior that stops all motors if the sensor distance get too short",
-  "behaviors.driveForward": "A behavior that turns on the motors to the specified speed",
-  "behaviors.driveForward|param|motors": "@param speed the desired speed, eg: 50"
-}
--- a/libs/behaviors/_locales/behaviors-strings.json
+++ b/libs/behaviors/_locales/behaviors-strings.json
@ -1,7 +0,0 @@
-{
-  "behaviors.addBehavior|block": "add behavior %behavior",
-  "behaviors.avoidCrash|block": "avoid crash using %ultrasonic",
-  "behaviors.driveForward|block": "drive %motors|forward at %speed=motorSpeedPicker|%",
-  "behaviors|block": "behaviors",
-  "{id:category}Behaviors": "Behaviors"
-}
--- a/libs/behaviors/targetoverrides.ts
+++ b/libs/behaviors/targetoverrides.ts
@ -1,56 +0,0 @@
-namespace behaviors {
-    class AvoidCrashBehavior extends behaviors.Behavior {
-        private ultrasonic: sensors.UltraSonicSensor;
-        constructor(ultrasonic: sensors.UltraSonicSensor) {
-            super();
-            this.ultrasonic = ultrasonic;
-        }
-
-        shouldRun(): boolean {
-            return this.ultrasonic.distance() < 5;
-        }
-
-        run(): void {
-            motors.stopAllMotors();
-            this.active = false;
-        }
-    }
-
-    /**
-     * A behavior that stops all motors if the sensor distance get too short
-     */
-    //% blockId=behaviorsAvoidCrash block="avoid crash using %ultrasonic"
-    export function avoidCrash(ultrasonic: sensors.UltraSonicSensor) : behaviors.Behavior {
-        return new AvoidCrashBehavior(ultrasonic);
-    }
-
-    class DriveForwardBehavior extends behaviors.Behavior {
-        private motors: motors.MotorBase;
-        private speed: number;
-        constructor(motors: motors.MotorBase, speed: number) {
-            super();
-            this.motors = motors;
-            this.speed = speed;
-        }
-
-        shouldRun(): boolean { 
-            return true;
-        }
-
-        run(): void {
-            this.motors.setSpeed(this.speed);
-            pauseUntil(() => !this.active);
-            this.motors.setSpeed(0);
-        }
-    }
-
-    /**
-     * A behavior that turns on the motors to the specified speed
-     * @param motors 
-     * @param speed the desired speed, eg: 50
-     */
-    //% blockId=behaviorsDriveForward block="drive %motors|forward at %speed=motorSpeedPicker|%"
-    export function driveForward(motors: motors.MotorBase, speed: number): behaviors.Behavior {
-        return new DriveForwardBehavior(motors, speed);
-    }
-}
--- a/libs/color-sensor/_locales/color-sensor-jsdoc-strings.json
+++ b/libs/color-sensor/_locales/color-sensor-jsdoc-strings.json
@ -1,5 +1,6 @@
 {
  "sensors.ColorSensor": "The color sensor is a digital sensor that can detect the color or intensity\nof light that enters the small window on the face of the sensor.",
+  "sensors.ColorSensor.calibrateLight": "Collects measurement of the light condition and adjusts the threshold to 10% / 90%.",
  "sensors.ColorSensor.color": "Get the current color from the color sensor.",
  "sensors.ColorSensor.colorMode": "Gets the current color mode",
  "sensors.ColorSensor.light": "Measures the ambient or reflected light value from 0 (darkest) to 100 (brightest).",
@ -14,5 +15,7 @@
  "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.setThreshold|param|value": "the value threshold",
+  "sensors.ColorSensor.threshold": "Gets the threshold value",
+  "sensors.ColorSensor.threshold|param|condition": "the light condition"
 }
--- a/libs/color-sensor/_locales/color-sensor-strings.json
+++ b/libs/color-sensor/_locales/color-sensor-strings.json
@ -13,6 +13,7 @@
  "LightCondition.Dark|block": "dark",
  "LightIntensityMode.Ambient|block": "ambient light",
  "LightIntensityMode.Reflected|block": "reflected light",
+  "sensors.ColorSensor.calibrateLight|block": "calibrate|%sensor|for %mode|light",
  "sensors.ColorSensor.color|block": "%sensor| color",
  "sensors.ColorSensor.light|block": "%sensor|%mode",
  "sensors.ColorSensor.onColorDetected|block": "on %sensor|detected color %color",
@ -20,6 +21,7 @@
  "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.ColorSensor.threshold|block": "%sensor|%condition",
  "sensors.color1|block": "color 1",
  "sensors.color2|block": "color 2",
  "sensors.color3|block": "color 3",
--- a/libs/color-sensor/color.ts
+++ b/libs/color-sensor/color.ts
@ -39,9 +39,9 @@ const enum ColorSensorColor {

 enum LightCondition {
    //% block="dark"
-    Dark = sensors.internal.ThresholdState.Low,
+    Dark = sensors.ThresholdState.Low,
    //$ block="bright"
-    Bright = sensors.internal.ThresholdState.High
+    Bright = sensors.ThresholdState.High
 }

 namespace sensors {
@ -52,12 +52,14 @@ namespace sensors {
     */
    //% fixedInstances
    export class ColorSensor extends internal.UartSensor {
-        thresholdDetector: sensors.internal.ThresholdDetector;
+        thresholdDetector: sensors.ThresholdDetector;
+        calibrating: boolean;

        constructor(port: number) {
            super(port)
            this._setMode(ColorSensorMode.None);
-            this.thresholdDetector = new sensors.internal.ThresholdDetector(this.id());
+            this.thresholdDetector = new sensors.ThresholdDetector(this.id());
+            this.calibrating = false;
        }

        _colorEventValue(value: number) {
@ -95,6 +97,7 @@ namespace sensors {
        }

        _update(prev: number, curr: number) {
+            if (this.calibrating) return; // simply ignore data updates while calibrating
            if (this.mode == ColorSensorMode.Color)
                control.raiseEvent(this._id, this._colorEventValue(curr));
            else
@ -230,18 +233,76 @@ namespace sensors {
        //% blockId=colorSetThreshold block="set %sensor|%condition|to %value"
        //% group="Threshold" blockGap=8 weight=90
        //% value.min=0 value.max=100
+        //% sensor.fieldEditor="ports"
        setThreshold(condition: LightCondition, value: number) {
            if (condition == LightCondition.Dark)
                this.thresholdDetector.setLowThreshold(value)
            else
                this.thresholdDetector.setHighThreshold(value);
        }
+
+        /**
+         * Gets the threshold value
+         * @param condition the light condition
+         */
+        //% blockId=colorGetThreshold block="%sensor|%condition"
+        //% group="Threshold" blockGap=8 weight=89
+        //% sensor.fieldEditor="ports"
+        threshold(condition: LightCondition): number {
+            return this.thresholdDetector.threshold(<ThresholdState><number>LightCondition.Dark);
+        }
+
+        /**
+         * Collects measurement of the light condition and adjusts the threshold to 10% / 90%.
+         */
+        //% blockId=colorCalibrateLight block="calibrate|%sensor|for %mode|light"
+        //% group="Threshold" weight=91 blockGap=8
+        //% sensor.fieldEditor="ports"
+        calibrateLight(mode: LightIntensityMode, deviation: number = 8) {
+            this.calibrating = true; // prevent events
+
+            this.light(mode); // trigger a read
+            pauseUntil(() => this.isActive()); // ensure sensor is live
+            
+
+            let vold = 0;
+            let vcount = 0;
+            let min = 200;
+            let max = -200;     
+            let k = 0;       
+            while(k++ < 1000 && vcount < 50) {
+                let v = this.light(mode);
+                min = Math.min(min, v);
+                max = Math.max(max, v);
+                // detect if nothing has changed and stop calibration
+                if (Math.abs(v - vold) <= 2)
+                    vcount ++;
+                else {
+                    vold = v;
+                    vcount = 1;
+                }
+
+                // wait a bit
+                loops.pause(50);                
+            }
+
+            // apply tolerance
+            const minDist = 10;
+            min = Math.max(minDist / 2, Math.min(min + deviation / 2, max - deviation / 2 - minDist / 2));
+            max = Math.min(100 - minDist / 2, Math.max(min + minDist, max - deviation / 2));
+        
+            // apply thresholds
+            this.thresholdDetector.setLowThreshold(min);
+            this.thresholdDetector.setHighThreshold(max);
+
+            this.calibrating = false;
+        }
    }

-    //% whenUsed block="color 3" weight=90 fixedInstance jres=icons.port3
+    //% whenUsed block="color 3" weight=95 fixedInstance jres=icons.port3
    export const color3: ColorSensor = new ColorSensor(3)
    
-    //% whenUsed block="color 1" weight=95 fixedInstance jres=icons.port1
+    //% whenUsed block="color 1" weight=90 fixedInstance jres=icons.port1
    export const color1: ColorSensor = new ColorSensor(1)

    //% whenUsed block="color 2" weight=90 fixedInstance jres=icons.port2
--- a/libs/color-sensor/docs/reference/sensors/color-sensor/ambient-light.md
+++ b/libs/color-sensor/docs/reference/sensors/color-sensor/ambient-light.md
@ -3,9 +3,9 @@
 ```blocks
 loops.forever(function () {
    if (sensors.color1.ambientLight() > 20) {
-        brick.setStatusLight(LightsPattern.Green)
+        brick.setLight(BrickLight.Green)
    } else {
-        brick.setStatusLight(LightsPattern.Orange)
+        brick.setLight(BrickLight.Orange)
    }
 })
 ```
--- a/libs/color-sensor/docs/reference/sensors/color-sensor/color.md
+++ b/libs/color-sensor/docs/reference/sensors/color-sensor/color.md
@ -3,9 +3,9 @@
 ```blocks
 loops.forever(function () {
    if (sensors.color1.color() == ColorSensorColor.Green) {
-        brick.setStatusLight(LightsPattern.Green)
+        brick.setLight(BrickLight.Green)
    } else {
-        brick.setStatusLight(LightsPattern.Orange)
+        brick.setLight(BrickLight.Orange)
    }
 })
 ```
--- a/libs/color-sensor/docs/reference/sensors/color-sensor/reflected-light.md
+++ b/libs/color-sensor/docs/reference/sensors/color-sensor/reflected-light.md
@ -3,9 +3,9 @@
 ```blocks
 loops.forever(function () {
    if (sensors.color1.reflectedLight() > 20) {
-        brick.setStatusLight(LightsPattern.Green)
+        brick.setLight(BrickLight.Green)
    } else {
-        brick.setStatusLight(LightsPattern.Orange)
+        brick.setLight(BrickLight.Orange)
    }
 })
 ```
--- a/libs/core/_locales/core-jsdoc-strings.json
+++ b/libs/core/_locales/core-jsdoc-strings.json
@ -10,10 +10,12 @@
  "MMap.getNumber": "Read a number in specified format from the buffer.",
  "MMap.ioctl": "Perform ioctl(2) on the underlaying file",
  "MMap.length": "Returns the length of a Buffer object.",
+  "MMap.lseek": "Set pointer on the underlaying file.",
  "MMap.read": "Perform read(2) on the underlaying file",
  "MMap.setNumber": "Write a number in specified format in the buffer.",
  "MMap.slice": "Read a range of bytes into a buffer.",
  "MMap.write": "Perform write(2) on the underlaying file",
+  "SeekWhence": "Mode for lseek()",
  "brick.Button": "Generic button class, for device buttons and sensors.",
  "brick.Button.isPressed": "Check if button is currently pressed or not.",
  "brick.Button.onEvent": "Do something when a button or sensor is clicked, up or down.",
@ -50,6 +52,12 @@
  "console.logValue|param|value": "to write",
  "console.sendToScreen": "Sends the log messages to the brick screen and uses the brick up and down buttons to scroll.",
  "control": "Program controls and events.",
+  "control.Timer": "A timer",
+  "control.Timer.millis": "Gets the elapsed time in millis since the last reset",
+  "control.Timer.pauseUntil": "Pauses until the timer reaches the given amount of milliseconds",
+  "control.Timer.pauseUntil|param|ms": "how long to pause for, eg: 5, 100, 200, 500, 1000, 2000",
+  "control.Timer.reset": "Resets the timer",
+  "control.Timer.seconds": "Gets the elapsed time in seconds since the last reset",
  "control.allocateNotifyEvent": "Allocates the next user notification event",
  "control.deviceFirmwareVersion": "Determine the version of system software currently running.",
  "control.dmesg": "Write data to DMESG debugging buffer.",
--- a/libs/core/_locales/core-strings.json
+++ b/libs/core/_locales/core-strings.json
@ -47,17 +47,29 @@
  "console.log|block": "console|log %text",
  "console.sendToScreen|block": "send console to screen",
  "console|block": "console",
+  "control.Timer.millis|block": "%timer|millis",
+  "control.Timer.pauseUntil|block": "%timer|pause until (ms) %ms",
+  "control.Timer.reset|block": "%timer|reset",
+  "control.Timer.seconds|block": "%timer|seconds",
  "control.raiseEvent|block": "raise event|from %src|with value %value",
+  "control.timer1|block": "timer 1",
+  "control.timer2|block": "timer 2",
+  "control.timer3|block": "timer 3",
+  "control.timer4|block": "timer 4",
+  "control.timer5|block": "timer 5",
+  "control.timer6|block": "timer 6",
+  "control.timer7|block": "timer 7",
+  "control.timer8|block": "timer 8",
  "control|block": "control",
  "motors.Motor.angle|block": "%motor|angle",
  "motors.Motor.clearCounts|block": "%motor|clear counts",
-  "motors.Motor.setRegulated|block": "set %motor|regulated %value",
+  "motors.Motor.setRegulated|block": "set %motor|regulated %value=toggleOnOff",
  "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.setBrake|block": "set %motor|brake %brake=toggleOnOff",
+  "motors.MotorBase.setReversed|block": "set %motor|reversed %reversed=toggleOnOff",
  "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|%",
@ -89,6 +101,7 @@
  "{id:category}Motors": "Motors",
  "{id:category}Output": "Output",
  "{id:category}Screen": "Screen",
+  "{id:category}Sensors": "Sensors",
  "{id:category}Serial": "Serial",
  "{id:group}Buttons": "Buttons",
  "{id:group}Counters": "Counters",
--- a/libs/core/buttons.ts
+++ b/libs/core/buttons.ts
@ -4,34 +4,24 @@
 */
 const enum BrickLight {
    //% block=off enumval=0
-    //% blockIdentity=brick.lightPattern
    Off = 0,
    //% block=green enumval=1
-    //% blockIdentity=brick.lightPattern
    Green = 1,
    //% block=red enumval=2
-    //% blockIdentity=brick.lightPattern
    Red = 2,
    //% block=orange enumval=3
-    //% blockIdentity=brick.lightPattern
    Orange = 3,
    //% block="green flash" enumval=4
-    //% blockIdentity=brick.lightPattern
    GreenFlash = 4,
    //% block="red flash" enumval=5
-    //% blockIdentity=brick.lightPattern
    RedFlash = 5,
    //% block="orange flash" enumval=6
-    //% blockIdentity=brick.lightPattern
    OrangeFlash = 6,
    //% block="green pulse" enumval=7
-    //% blockIdentity=brick.lightPattern
    GreenPulse = 7,
    //% block="red pulse" enumval=8
-    //% blockIdentity=brick.lightPattern
    RedPulse = 8,
    //% block="orange pulse" enumval=9
-    //% blockIdentity=brick.lightPattern
    OrangePulse = 9,
 }

--- a/libs/core/console.ts
+++ b/libs/core/console.ts
@ -58,7 +58,7 @@ namespace console {

 namespace console.screen {
    const maxLines = 100;
-    const screenLines = 8;
+    const screenLines = 10;
    let lines: string[];
    let scrollPosition = 0;

@ -66,8 +66,8 @@ namespace console.screen {
        if (!lines) {
            lines = [];
            console.addListener(log);
-            brick.buttonUp.onEvent(ButtonEvent.Click, () => scroll(-1))
-            brick.buttonDown.onEvent(ButtonEvent.Click, () => scroll(1))                
+            brick.buttonUp.onEvent(ButtonEvent.Click, () => scroll(-3))
+            brick.buttonDown.onEvent(ButtonEvent.Click, () => scroll(3))                
        }
    }

--- a/libs/core/enums.d.ts
+++ b/libs/core/enums.d.ts
@ -1,6 +1,17 @@
 // Auto-generated. Do not edit.


+    /**
+     * Mode for lseek()
+     */
+
+    declare const enum SeekWhence {
+    Set = 0,
+    Current = 1,
+    End = 2,
+    }
+
+
    /**
     * Drawing modes
     */
--- a/libs/core/input.ts
+++ b/libs/core/input.ts
@ -11,7 +11,7 @@ namespace sensors.internal {

        // This is implementation for the simulator.

-        control.runInBackground(() => {
+        control.runInParallel(() => {
            let prev = query()
            changeHandler(prev, prev)
            while (true) {
@ -196,83 +196,6 @@ namespace sensors.internal {
        }
    }

-    export enum ThresholdState {
-        Normal = 1,
-        High = 2,
-        Low = 3,
-    }
-
-    export class ThresholdDetector {
-        public id: number;
-        private min: number;
-        private max: number;
-        private lowThreshold: number;
-        private highThreshold: number;
-        private level: number;
-        public state: ThresholdState;
-
-        constructor(id: number, min = 0, max = 100, lowThreshold = 20, highThreshold = 80) {
-            this.id = id;
-            this.min = min;
-            this.max = max;
-            this.lowThreshold = lowThreshold;
-            this.highThreshold = highThreshold;
-            this.level = Math.ceil((max - min) / 2);
-            this.state = ThresholdState.Normal;
-        }
-
-        public setLevel(level: number) {
-            if (this == null) return
-            this.level = this.clampValue(level);
-
-            if (this.level >= this.highThreshold) {
-                this.setState(ThresholdState.High);
-            }
-            else if (this.level <= this.lowThreshold) {
-                this.setState(ThresholdState.Low);
-            }
-            else {
-                this.setState(ThresholdState.Normal);
-            }
-        }
-
-        public setLowThreshold(value: number) {
-            this.lowThreshold = this.clampValue(value);
-            this.highThreshold = Math.max(this.lowThreshold + 1, this.highThreshold);
-        }
-
-        public setHighThreshold(value: number) {
-            this.highThreshold = this.clampValue(value);
-            this.lowThreshold = Math.min(this.highThreshold - 1, this.lowThreshold);
-        }
-
-        private clampValue(value: number) {
-            if (value < this.min) {
-                return this.min;
-            }
-            else if (value > this.max) {
-                return this.max;
-            }
-            return value;
-        }
-
-        private setState(state: ThresholdState) {
-            if (this.state == state) return;
-
-            this.state = state;
-            switch (state) {
-                case ThresholdState.High:
-                    control.raiseEvent(this.id, ThresholdState.High);
-                    break;
-                case ThresholdState.Low:
-                    control.raiseEvent(this.id, ThresholdState.Low);
-                    break;
-                case ThresholdState.Normal:
-                    break;
-            }
-        }
-    }
-
    export class UartSensor extends Sensor {
        protected mode: number // the mode user asked for
        protected realmode: number // the mode the hardware is in
@ -312,6 +235,7 @@ namespace sensors.internal {

        reset() {
            if (this.isActive()) uartReset(this._port);
+            this.realmode = 0;
        }
    }

@ -498,3 +422,91 @@ namespace sensors.internal {
        TST_UART_WRITE = 0xc048740a,
    }
 }
+
+namespace sensors {
+    export enum ThresholdState {
+        Normal = 1,
+        High = 2,
+        Low = 3,
+    }
+
+    export class ThresholdDetector {
+        public id: number;
+        public min: number;
+        public max: number;
+        public lowThreshold: number;
+        public highThreshold: number;
+        public level: number;
+        public state: ThresholdState;
+
+        constructor(id: number, min = 0, max = 100, lowThreshold = 20, highThreshold = 80) {
+            this.id = id;
+            this.min = min;
+            this.max = max;
+            this.lowThreshold = lowThreshold;
+            this.highThreshold = highThreshold;
+            this.level = Math.ceil((max - min) / 2);
+            this.state = ThresholdState.Normal;
+        }
+
+        public setLevel(level: number) {
+            if (this == null) return
+            this.level = this.clampValue(level);
+
+            if (this.level >= this.highThreshold) {
+                this.setState(ThresholdState.High);
+            }
+            else if (this.level <= this.lowThreshold) {
+                this.setState(ThresholdState.Low);
+            }
+            else {
+                const interval = (this.highThreshold - this.lowThreshold) / 6;
+                if ((this.state == ThresholdState.High && this.level < this.highThreshold - interval) ||
+                    (this.state == ThresholdState.Low && this.level > this.lowThreshold + interval))
+                    this.setState(ThresholdState.Normal);
+            }
+        }
+
+        public threshold(t: ThresholdState): number {
+            switch(t) {
+                case ThresholdState.High: return this.highThreshold;
+                case ThresholdState.Low: return this.lowThreshold;
+                default: return (this.max - this.min) / 2;
+            }
+        }
+
+        public setLowThreshold(value: number) {
+            this.lowThreshold = this.clampValue(value);
+            this.highThreshold = Math.max(this.lowThreshold + 1, this.highThreshold);
+        }
+
+        public setHighThreshold(value: number) {
+            this.highThreshold = this.clampValue(value);
+            this.lowThreshold = Math.min(this.highThreshold - 1, this.lowThreshold);
+        }
+
+        private clampValue(value: number) {
+            if (value < this.min) {
+                return this.min;
+            }
+            else if (value > this.max) {
+                return this.max;
+            }
+            return value;
+        }
+
+        private setState(state: ThresholdState) {
+            if (this.state == state) return;
+
+            this.state = state;
+            switch (state) {
+                case ThresholdState.High:
+                    control.raiseEvent(this.id, ThresholdState.High);
+                    break;
+                case ThresholdState.Low:
+                    control.raiseEvent(this.id, ThresholdState.Low);
+                    break;
+            }
+        }
+    }    
+}
--- a/libs/core/linux.cpp
+++ b/libs/core/linux.cpp
@ -271,7 +271,12 @@ void setupThread(Action a, TValue arg = 0, void (*runner)(Thread *) = NULL, TVal
    }
 }

-void runInBackground(Action a) {
+void releaseFiber() {
+    stopUser();
+    pthread_exit(NULL);
+}
+
+void runInParallel(Action a) {
    setupThread(a);
 }

--- a/libs/core/mmap.cpp
+++ b/libs/core/mmap.cpp
@ -7,6 +7,16 @@
 #include <fcntl.h>
 #include <sys/ioctl.h>

+/**
+* Mode for lseek()
+*/
+enum class SeekWhence {
+    Set = 0,
+    Current = 1,
+    End = 2,
+};
+
+
 namespace pxt {
 PXT_VTABLE_CTOR(MMap) {
    length = 0;
@ -111,4 +121,10 @@ int read(MMap *mmap, Buffer data) {
    return ::read(mmap->fd, data->data, data->length);
 }

+/** Set pointer on the underlaying file. */
+//%
+int lseek(MMap *mmap, int offset, SeekWhence whence) {
+    return ::lseek(mmap->fd, offset, (int)whence);
+}
+
 }
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@ -161,8 +161,7 @@ namespace motors {
         * Sets the automatic brake on or off when the motor is off
         * @param brake a value indicating if the motor should break when off
         */
-        //% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake"
-        //% brake.fieldEditor=toggleonoff
+        //% blockId=outputMotorSetBrakeMode block="set %motor|brake %brake=toggleOnOff"
        //% weight=60 blockGap=8
        //% group="Move"
        setBrake(brake: boolean) {
@ -173,8 +172,7 @@ namespace motors {
        /** 
         * Reverses the motor polarity
        */
-        //% blockId=motorSetReversed block="set %motor|reversed %reversed"
-        //% reversed.fieldEditor=toggleonoff
+        //% blockId=motorSetReversed block="set %motor|reversed %reversed=toggleOnOff"
        //% weight=59 blockGap=8
        //% group="Move"
        setReversed(reversed: boolean) {
@ -193,6 +191,14 @@ namespace motors {
        stop() {
            this.init();
            stop(this._port, this._brake);
+            this.settle();
+        }
+
+        private settle() {
+            // if we've recently completed a motor command with brake
+            // allow 500ms for robot to settle
+            if(this._brake)
+                loops.pause(500);
        }

        /**
@ -253,6 +259,8 @@ namespace motors {
            this._move(useSteps, stepsOrTime, speed);
            // wait till motor is done with this work
            this.pauseUntilReady();
+            // allow robot to settle
+            this.settle();
        }

        /**
@ -303,7 +311,7 @@ namespace motors {
        }

        private __setSpeed(speed: number) {
-            const b = mkCmd(this._port, this._regulated ? DAL.opOutputPower : DAL.opOutputSpeed, 1)
+            const b = mkCmd(this._port, this._regulated ? DAL.opOutputSpeed : DAL.opOutputPower, 1)
            b.setNumber(NumberFormat.Int8LE, 2, speed)
            writePWM(b)
            if (speed) {
@ -327,8 +335,7 @@ namespace motors {
         * 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
+        //% blockId=outputMotorSetRegulated block="set %motor|regulated %value=toggleOnOff"
        //% weight=58
        //% group="Move"
        setRegulated(value: boolean) {
--- a/libs/core/pxt.json
+++ b/libs/core/pxt.json
@ -11,6 +11,7 @@
        "mmap.cpp",
        "control.cpp",
        "console.ts",
+        "timer.ts",
        "serialnumber.cpp",
        "buttons.ts",
        "png.cpp",
--- a/libs/core/shims.d.ts
+++ b/libs/core/shims.d.ts
@ -41,6 +41,10 @@ declare interface MMap {
    /** Perform read(2) on the underlaying file */
    //% shim=MMapMethods::read
    read(data: Buffer): int32;
+
+    /** Set pointer on the underlaying file. */
+    //% shim=MMapMethods::lseek
+    lseek(offset: int32, whence: SeekWhence): int32;
 }
 declare namespace control {

--- a/libs/core/timer.ts
+++ b/libs/core/timer.ts
@ -0,0 +1,64 @@
+namespace control {
+    /**
+     * A timer
+     */
+    //% fixedInstances
+    export class Timer {
+        start: number;
+
+        constructor() {
+            this.start = control.millis();
+        }
+
+        /**
+         * Gets the elapsed time in millis since the last reset
+         */
+        //% blockId=timerMillis block="%timer|millis"
+        millis(): number {
+            return control.millis() - this.start;
+        }
+        
+        /**
+         * Gets the elapsed time in seconds since the last reset
+         */
+        //% blockId=timerSeconds block="%timer|seconds"
+        seconds(): number {
+            return this.millis() / 1000;
+        }
+
+        /**
+         * Resets the timer
+         */
+        //% blockId=timerRest block="%timer|reset"
+        reset() {
+            this.start = control.millis();
+        }
+
+        /**
+         * Pauses until the timer reaches the given amount of milliseconds
+         * @param ms how long to pause for, eg: 5, 100, 200, 500, 1000, 2000
+         */
+        //% blockId=timerPauseUntil block="%timer|pause until (ms) %ms"
+        pauseUntil(ms: number) {
+            const remaining = this.millis() - ms;
+            loops.pause(Math.max(0, remaining));
+        }
+    }
+
+    //% whenUsed fixedInstance block="timer 1"
+    export const timer1 = new Timer();
+    //% whenUsed fixedInstance block="timer 2"
+    export const timer2 = new Timer();
+    //% whenUsed fixedInstance block="timer 3"
+    export const timer3 = new Timer();
+    //% whenUsed fixedInstance block="timer 4"
+    export const timer4 = new Timer();
+    //% whenUsed fixedInstance block="timer 5"
+    export const timer5 = new Timer();
+    //% whenUsed fixedInstance block="timer 6"
+    export const timer6 = new Timer();
+    //% whenUsed fixedInstance block="timer 7"
+    export const timer7 = new Timer();
+    //% whenUsed fixedInstance block="timer 8"
+    export const timer8 = new Timer();
+}
--- a/libs/datalog/_locales/datalog-jsdoc-strings.json
+++ b/libs/datalog/_locales/datalog-jsdoc-strings.json
@ -0,0 +1,15 @@
+{
+  "datalog": "A data logging framework",
+  "datalog.DatalogStorage": "A storage for datalog data",
+  "datalog.DatalogStorage.appendHeaders": "Appends the headers in datalog",
+  "datalog.DatalogStorage.appendRow": "Appends a row of data",
+  "datalog.DatalogStorage.flush": "Flushes any buffered data",
+  "datalog.DatalogStorage.init": "Initializes the storage",
+  "datalog.addRow": "Starts a row of data",
+  "datalog.addValue": "Adds a cell to the row of data",
+  "datalog.addValue|param|name": "name of the cell, eg: \"x\"",
+  "datalog.addValue|param|value": "value of the cell, eg: 0",
+  "datalog.flush": "Commits any buffered row to disk",
+  "datalog.setEnabled": "Turns on or off datalogging",
+  "datalog.setStorage": "* @param storage custom storage solution"
+}
--- a/libs/datalog/_locales/datalog-strings.json
+++ b/libs/datalog/_locales/datalog-strings.json
@ -0,0 +1,7 @@
+{
+  "datalog.addRow|block": "datalog add row",
+  "datalog.addValue|block": "datalog add %name|=%value",
+  "datalog.setEnabled|block": "datalog %enabled=toggleOnOff",
+  "datalog|block": "datalog",
+  "{id:category}Datalog": "Datalog"
+}
--- a/libs/datalog/pxt.json
+++ b/libs/datalog/pxt.json
@ -0,0 +1,7 @@
+{
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/datalog",
+    "dependencies": {
+        "core": "file:../core",
+        "storage": "file:../storage"
+    }
+}
--- a/libs/datalog/targetoverrides.ts
+++ b/libs/datalog/targetoverrides.ts
@ -0,0 +1,57 @@
+namespace datalog.ev3 {
+    /**
+     * A datalog storage for the EV3
+     */
+    export class EV3DatalogStorage extends DatalogStorage { // implements DatalogStorage {
+        private _filename: string;
+        private _buffer: string;
+        private _storage: storage.Storage;
+
+        /**
+         * Creates a new storage for the datalog
+         * @param storage 
+         * @param filename 
+         */
+        constructor(storage: storage.Storage, filename: string) {
+            super();
+            this._filename = filename;
+            this._storage = storage;
+        }
+
+        /**
+         * Initializes the storage
+         */
+        init(): void {
+            this._storage.remove(this._filename);
+            this._buffer = "";
+        }
+        /**
+         * Appends the headers in datalog
+         */
+        appendHeaders(headers: string[]): void {
+            this._storage.appendCSVHeaders(this._filename, headers);
+        }
+        /**
+         * Appends a row of data
+         */
+        appendRow(values: number[]): void {
+            // commit row data
+            this._buffer += storage.toCSV(values, this._storage.csvSeparator);
+            // buffered writes
+            if (this._buffer.length > 1024)
+                this.flush();
+        }
+        /**
+         * Flushes any buffered data
+         */
+        flush(): void {
+            if (this._buffer) {
+                const b = this._buffer;
+                this._buffer = "";
+                this._storage.append(this._filename, b);
+            }    
+        }
+    }
+    // automatic hook up
+    datalog.setStorage(new datalog.ev3.EV3DatalogStorage(storage.temporary, "datalog.csv"));
+}
--- a/libs/ev3/ns.ts
+++ b/libs/ev3/ns.ts
@ -56,4 +56,9 @@ namespace loops {
 //% color="#1E5AA8"
 namespace light {

+}
+
+//% color="#b0b0b0" advanced=true weight=5
+namespace storage {
+
 }
--- a/libs/ev3/pxt.json
+++ b/libs/ev3/pxt.json
@ -13,7 +13,8 @@
        "color-sensor": "file:../color-sensor",
        "touch-sensor": "file:../touch-sensor",
        "ultrasonic-sensor": "file:../ultrasonic-sensor",
-        "gyro-sensor": "file:../gyro-sensor"
+        "gyro-sensor": "file:../gyro-sensor",
+        "mood": "file:../mood"
    },
    "public": true
 }
--- a/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json
+++ b/libs/gyro-sensor/_locales/gyro-sensor-jsdoc-strings.json
@ -1,5 +1,7 @@
 {
  "sensors.GyroSensor.angle": "Get the current angle from the gyroscope.",
+  "sensors.GyroSensor.drift": "Gets the computed rate drift",
  "sensors.GyroSensor.rate": "Get the current rotation rate from the gyroscope.",
-  "sensors.GyroSensor.reset": "Forces a calibration of the gyro. Must be called when the sensor is completely still."
+  "sensors.GyroSensor.reset": "Forces a calibration of the gyro. Must be called when the sensor is completely still.",
+  "sensors.GyroSensor.setDriftCorrection": "Enables or disable drift correction"
 }
--- a/libs/gyro-sensor/gyro.ts
+++ b/libs/gyro-sensor/gyro.ts
@ -8,16 +8,27 @@ namespace sensors {
    //% fixedInstances
    export class GyroSensor extends internal.UartSensor {
        private calibrating: boolean;
+        private _drift: number;
+        private _drifting: boolean;
        constructor(port: number) {
            super(port)
            this.calibrating = false;
+            this._drift = 0;
+            this._drifting = true;
+            this.setMode(GyroSensorMode.Rate);
        }

        _deviceType() {
            return DAL.DEVICE_TYPE_GYRO
        }

+        _query(): number {
+            return this.getNumber(NumberFormat.Int16LE, 0);
+        }
+
        setMode(m: GyroSensorMode) {
+            if (m == GyroSensorMode.Rate && this.mode != m)
+                this._drift = 0;
            this._setMode(m)
        }

@ -37,8 +48,8 @@ namespace sensors {
            if (this.calibrating)
                pauseUntil(() => !this.calibrating, 2000);

-            this.setMode(GyroSensorMode.Angle)
-            return this.getNumber(NumberFormat.Int16LE, 0)
+            this.setMode(GyroSensorMode.Angle);
+            return this._query();
        }

        /**
@ -57,8 +68,14 @@ namespace sensors {
            if (this.calibrating)
                pauseUntil(() => !this.calibrating, 2000);

-            this.setMode(GyroSensorMode.Rate)
-            return this.getNumber(NumberFormat.Int16LE, 0)
+            this.setMode(GyroSensorMode.Rate);
+            let curr = this._query();
+            if (Math.abs(curr) < 20) {
+                const p = 0.0005;
+                this._drift = (1 - p) * this._drift + p * curr;
+                curr -= this._drift;
+            }
+            return curr;
        }

        /**
@ -76,23 +93,45 @@ namespace sensors {
            if (this.calibrating) return; // already in calibration mode

            this.calibrating = true;
-            // may be triggered by a button click, give time to settle
-            loops.pause(500);
+            // may be triggered by a button click, 
+            // give time for robot to settle
+            loops.pause(700);
            // send a reset command
            super.reset();
-            // we need to switch mode twice to perform a calibration
-            if (this.mode == GyroSensorMode.Rate)
-                this.setMode(GyroSensorMode.Angle);
-            else
-                this.setMode(GyroSensorMode.Rate);
-            // switch back and wait
-            if (this.mode == GyroSensorMode.Rate)
-                this.setMode(GyroSensorMode.Angle);
-            else
-                this.setMode(GyroSensorMode.Rate);
-            // give it more time to settle
-            loops.pause(500);
-            this.calibrating = false;            
+            // switch back to the desired mode
+            this.setMode(this.mode);
+            // wait till sensor is live
+            pauseUntil(() => this.isActive());
+            // give it a bit of time to init
+            loops.pause(1000)
+            // compute drift
+            this._drift = 0;
+            if (this.mode == GyroSensorMode.Rate) {
+                for (let i = 0; i < 200; ++i) {
+                    this._drift += this._query();
+                    loops.pause(4);
+                }
+                this._drift /= 200;
+            }
+            // and we're done
+            this.calibrating = false;
+        }
+
+        /**
+         * Gets the computed rate drift
+         */
+        //%
+        drift(): number {
+            return this._drift;
+        }
+
+        /**
+         * Enables or disable drift correction
+         * @param enabled 
+         */
+        //%
+        setDriftCorrection(enabled: boolean) {
+            this._drifting = enabled;
        }
    }

--- a/libs/infrared-sensor/_locales/infrared-sensor-jsdoc-strings.json
+++ b/libs/infrared-sensor/_locales/infrared-sensor-jsdoc-strings.json
@ -7,6 +7,8 @@
  "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.InfraredSensor.threshold": "Gets the threshold value",
+  "sensors.InfraredSensor.threshold|param|condition": "the proximity condition",
  "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
@ -6,6 +6,7 @@
  "sensors.InfraredSensor.proximity|block": "%sensor|proximity",
  "sensors.InfraredSensor.remoteCommand|block": "%sensor|remote command",
  "sensors.InfraredSensor.setThreshold|block": "set %sensor|%condition|to %value",
+  "sensors.InfraredSensor.threshold|block": "%sensor|%condition",
  "sensors.RemoteInfraredBeaconButton.isPressed|block": "%button|is pressed",
  "sensors.RemoteInfraredBeaconButton.onEvent|block": "on %button|%event",
  "sensors.RemoteInfraredBeaconButton.wasPressed|block": "%button|was pressed",
--- a/libs/infrared-sensor/ir.ts
+++ b/libs/infrared-sensor/ir.ts
@ -138,12 +138,12 @@ namespace sensors {
    //% fixedInstances
    export class InfraredSensor extends internal.UartSensor {
        private channel: IrRemoteChannel;
-        private proximityThreshold: sensors.internal.ThresholdDetector;
+        private proximityThreshold: sensors.ThresholdDetector;

        constructor(port: number) {
            super(port)
            this.channel = IrRemoteChannel.Ch0
-            this.proximityThreshold = new sensors.internal.ThresholdDetector(this._id, 0, 100, 10, 90);
+            this.proximityThreshold = new sensors.ThresholdDetector(this._id, 0, 100, 10, 90);
            irButton(0) // make sure buttons array is initalized

            // and set the mode, as otherwise button events won't work
@ -258,7 +258,7 @@ namespace sensors {
         * @param value the value threshold
         */
        //% blockId=irSetThreshold block="set %sensor|%condition|to %value"
-        //% group="Threshold" blockGap=8
+        //% group="Threshold" blockGap=8 weight=49
        //% value.min=0 value.max=100
        setThreshold(condition: InfraredSensorEvent, value: number) {
            if (condition == InfraredSensorEvent.ObjectNear)
@ -266,6 +266,17 @@ namespace sensors {
            else
                this.proximityThreshold.setHighThreshold(value);
        }
+
+        /**
+         * Gets the threshold value
+         * @param condition the proximity condition
+         */
+        //% blockId=irGetThreshold block="%sensor|%condition"
+        //% group="Threshold" blockGap=8 weight=49
+        //% sensor.fieldEditor="ports"
+        threshold(condition: InfraredSensorEvent): number {
+            return this.proximityThreshold.threshold(<ThresholdState><number>LightCondition.Dark);
+        }        
    }

    //% fixedInstance whenUsed block="infrared 1" jres=icons.port1
--- a/libs/mood/README.md
+++ b/libs/mood/README.md
@ -0,0 +1,3 @@
+# mood
+
+A package to put the EV3 in various moods.
--- a/libs/mood/_locales/mood-jsdoc-strings.json
+++ b/libs/mood/_locales/mood-jsdoc-strings.json
@ -0,0 +1,17 @@
+{
+  "brick.Mood": "A mood",
+  "brick.Mood.show": "Shows the mood on the EV3",
+  "brick.showMood": "Shows a mood",
+  "moods.angry": "An angry mood",
+  "moods.awake": "A awake mood",
+  "moods.dizzy": "A dizzy mood",
+  "moods.knockedOut": "A knocked out mood",
+  "moods.love": "In love mood",
+  "moods.middleLeft": "Looking around left",
+  "moods.middleRight": "Looking around right",
+  "moods.neutral": "In a neutral mood",
+  "moods.sad": "A sad mood",
+  "moods.sleeping": "A sleeping mood",
+  "moods.tired": "A tired mood",
+  "moods.winking": "In laughing mood"
+}
--- a/libs/mood/_locales/mood-strings.json
+++ b/libs/mood/_locales/mood-strings.json
@ -0,0 +1,8 @@
+{
+  "brick.showMood|block": "show mood %mood=mood_image_picker",
+  "brick|block": "brick",
+  "moods|block": "moods",
+  "{id:category}Brick": "Brick",
+  "{id:category}Moods": "Moods",
+  "{id:group}Screen": "Screen"
+}
--- a/libs/mood/mood.ts
+++ b/libs/mood/mood.ts
@ -0,0 +1,125 @@
+namespace brick {
+    /**
+     * Shows a mood
+     */
+    //% weight=90
+    //% blockId=moodShow block="show mood %mood=mood_image_picker"
+    //% weight=101 group="Screen" blockGap=8
+    export function showMood(mood: Mood) {
+        if(mood)
+            mood.show();
+    }
+
+    /**
+     * A mood
+     */
+    //% fixedInstances
+    export class Mood {
+        private image: Image;
+        private sound: Sound;
+        private light: BrickLight;
+
+        constructor(image: Image, sound: Sound, light: BrickLight) {
+            this.image = image;
+            this.sound = sound;
+            this.light = light;
+        }
+
+        /**
+         * Shows the mood on the EV3
+         */
+        show() {
+            brick.setLight(this.light);
+            brick.showImage(this.image);
+            music.playSoundEffectUntilDone(this.sound);
+            loops.pause(20);
+        }
+    }
+
+    /**
+     * An image
+     * @param image the image
+     */
+    //% blockId=mood_image_picker block="%image" shim=TD_ID
+    //% image.fieldEditor="images"
+    //% image.fieldOptions.columns=4
+    //% image.fieldOptions.width=400
+    //% group="Screen" weight=0 blockHidden=1
+    export function __moodImagePicker(mood: Mood): Mood {
+        return mood;
+    }
+}
+
+namespace moods {
+    /**
+     * A sleeping mood
+     */
+    //% fixedInstance jres=images.eyesSleeping
+    export const sleeping = new brick.Mood(images.eyesSleeping, sounds.expressionsSnoring, BrickLight.OrangePulse);
+
+    /**
+     * A awake mood
+     */
+    //% fixedInstance jres=images.eyesAwake
+    export const awake = new brick.Mood(images.eyesAwake, sounds.informationActivate, BrickLight.Orange);
+
+    /**
+     * A tired mood
+     */
+    //% fixedInstance jres=images.eyesTiredMiddle
+    export const tired = new brick.Mood(images.eyesTiredMiddle, sounds.expressionsSneezing, BrickLight.OrangeFlash);
+
+    /**
+     * An angry mood
+     */
+    //% fixedInstance jres=images.eyesAngry
+    export const angry = new brick.Mood(images.eyesAngry, sounds.animalsDogGrowl, BrickLight.RedPulse);
+
+    /**
+     * A sad mood
+     */
+    //% fixedInstance jres=images.eyesTear
+    export const sad = new brick.Mood(images.eyesTear, sounds.animalsDogWhine, BrickLight.Red);
+
+    /**
+     * A dizzy mood
+     */
+    //% fixedInstance jres=images.eyesDizzy
+    export const dizzy = new brick.Mood(images.eyesDizzy, sounds.expressionsUhOh, BrickLight.OrangeFlash);
+
+    /**
+     * A knocked out mood
+     */
+    //% fixedInstance jres=images.eyesKnockedOut
+    export const knockedOut = new brick.Mood(images.eyesKnockedOut, sounds.informationError, BrickLight.RedFlash);
+
+    /**
+     * Looking around left
+     */
+    //% fixedInstance jres=images.eyesMiddleLeft
+    export const middleLeft = new brick.Mood(images.eyesMiddleLeft, sounds.informationAnalyze, BrickLight.Off);
+
+    /**
+     * Looking around right
+     */
+    //% fixedInstance jres=images.eyesMiddleRight
+    export const middleRight = new brick.Mood(images.eyesMiddleRight, sounds.informationAnalyze, BrickLight.Off);
+
+    /**
+     * In love mood
+     */
+    //% fixedInstance jres=images.eyesLove
+    export const love = new brick.Mood(images.eyesLove, sounds.expressionsMagicWand, BrickLight.GreenPulse);
+
+    /**
+     * In laughing mood
+     */
+    //% fixedInstance jres=images.eyesWinking
+    export const winking = new brick.Mood(images.eyesWinking, sounds.expressionsLaughing1, BrickLight.GreenFlash);
+
+    /**
+     * In a neutral mood
+     */
+    //% fixedInstance jres=images.eyesNeutral
+    export const neutral = new brick.Mood(images.eyesNeutral, undefined, BrickLight.Green);
+}
--- a/libs/mood/pxt.json
+++ b/libs/mood/pxt.json
@ -0,0 +1,15 @@
+{
+    "name": "mood",
+    "description": "The EV3 mood library",
+    "files": [
+        "README.md",
+        "mood.ts"
+    ],
+    "testFiles": [
+    ],
+    "public": true,
+    "dependencies": {
+        "core": "file:../core",
+        "music": "file:../music"
+    }
+}
--- a/libs/music/_locales/music-jsdoc-strings.json
+++ b/libs/music/_locales/music-jsdoc-strings.json
@ -23,7 +23,7 @@
  "music.setTempo": "Set the tempo a number of beats per minute (bpm).",
  "music.setTempo|param|bpm": "The new tempo in beats per minute, eg: 120",
  "music.setVolume": "Set the output volume of the sound synthesizer.",
-  "music.setVolume|param|volume": "the volume 0...256, eg: 128",
+  "music.setVolume|param|volume": "the volume 0...100, eg: 50",
  "music.stopAllSounds": "Play a tone through the speaker for some amount of time.",
  "music.tempo": "Return the tempo in beats per minute (bpm).\nTempo is the speed (bpm = beats per minute) at which notes play. The larger the tempo value, the faster the notes will play."
 }
--- a/libs/music/_locales/music-strings.json
+++ b/libs/music/_locales/music-strings.json
@ -121,7 +121,7 @@
  "sounds.mechanicalMotorStart|block": "mechanical motor start",
  "sounds.mechanicalMotorStop|block": "mechanical motor stop",
  "sounds.mechanicalRatchet|block": "mechanical ratchet",
-  "sounds.mechanicalSonar|block": "\"mechanical sonar\"",
+  "sounds.mechanicalSonar|block": "mechanical sonar",
  "sounds.mechanicalTickTack|block": "mechanical tick tack",
  "sounds.mechanicalWalk|block": "mechanical walk",
  "sounds.movementsArm1|block": "movements arm1",
--- a/libs/music/music.cpp
+++ b/libs/music/music.cpp
@ -13,7 +13,7 @@

 namespace music {

-uint8_t currVolume = 2;
+uint8_t currVolume = 50;
 uint8_t *lmsSoundMMap;

 int writeDev(void *data, int size) {
@ -25,16 +25,16 @@ int writeDev(void *data, int size) {

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

 #define SOUND_CMD_BREAK 0
--- a/libs/music/shims.d.ts
+++ b/libs/music/shims.d.ts
@ -3,12 +3,12 @@ declare namespace music {

    /**
     * Set the output volume of the sound synthesizer.
-     * @param volume the volume 0...256, eg: 128
+     * @param volume the volume 0...100, eg: 50
     */
    //% weight=96
    //% blockId=synth_set_volume block="set volume %volume"
    //% parts="speaker" blockGap=8
-    //% volume.min=0 volume.max=256
+    //% volume.min=0 volume.max=100
    //% help=music/set-volume
    //% weight=1 shim=music::setVolume
    function setVolume(volume: int32): void;
--- a/libs/music/sounds.ts
+++ b/libs/music/sounds.ts
@ -175,7 +175,7 @@ namespace sounds {
    export const mechanicalMotorStop = music.fromWAV(hex``);
    //% fixedInstance jres block="mechanical ratchet"
    export const mechanicalRatchet = music.fromWAV(hex``);
-    //% fixedInstance jres block='"mechanical sonar"'
+    //% fixedInstance jres block="mechanical sonar"
    export const mechanicalSonar = music.fromWAV(hex``);
    //% fixedInstance jres block="mechanical tick tack"
    export const mechanicalTickTack = music.fromWAV(hex``);
@ -291,6 +291,9 @@ namespace music {
    export function playSoundEffect(sound: Sound) {
        if (!sound || numSoundsPlaying >= soundsLimit) return;
        numSoundsPlaying++;
-        control.runInBackground(() => {sound.play(); numSoundsPlaying--;});
+        control.runInParallel(() => {
+            sound.play();
+            numSoundsPlaying--;
+        });
    }
 }
--- a/libs/storage/_locales/storage-jsdoc-strings.json
+++ b/libs/storage/_locales/storage-jsdoc-strings.json
@ -0,0 +1,29 @@
+{
+  "storage.Storage.append": "Append string data to a new or existing file.",
+  "storage.Storage.appendBuffer": "Append a buffer to a new or existing file.",
+  "storage.Storage.appendCSV": "Append a row of CSV data",
+  "storage.Storage.appendCSVHeaders": "Append a row of CSV headers",
+  "storage.Storage.appendCSVHeaders|param|filename": "the file name to append data, eg: \"data.csv\"",
+  "storage.Storage.appendCSVHeaders|param|headers": "the data to append",
+  "storage.Storage.appendCSV|param|data": "the data to append",
+  "storage.Storage.appendCSV|param|filename": "the file name to append data, eg: \"data.csv\"",
+  "storage.Storage.appendLine": "Appends a new line of data in the file",
+  "storage.Storage.appendLine|param|data": "the data to append",
+  "storage.Storage.appendLine|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.append|param|data": "the data to append",
+  "storage.Storage.append|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.exists": "Tests if a file exists",
+  "storage.Storage.exists|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.limit": "Resizing the size of a file to stay under the limit",
+  "storage.Storage.limit|param|filename": "name of the file to drop",
+  "storage.Storage.limit|param|size": "maximum length",
+  "storage.Storage.overwrite": "Overwrite file with string data.",
+  "storage.Storage.overwriteWithBuffer": "Overwrite file with a buffer.",
+  "storage.Storage.overwrite|param|data": "the data to append",
+  "storage.Storage.overwrite|param|filename": "the file name to append data, eg: \"data.txt\"",
+  "storage.Storage.read": "Read contents of file as a string.",
+  "storage.Storage.readAsBuffer": "Read contents of file as a buffer.",
+  "storage.Storage.remove": "Delete a file, or do nothing if it doesn't exist.",
+  "storage.Storage.size": "Return the size of the file, or -1 if it doesn't exists.",
+  "storage.temporary": "Temporary storage in memory, deleted when the device restarts."
+}
--- a/libs/storage/_locales/storage-strings.json
+++ b/libs/storage/_locales/storage-strings.json
@ -0,0 +1,15 @@
+{
+  "storage.Storage.appendCSVHeaders|block": "storage %source|%filename|append CSV headers %headers",
+  "storage.Storage.appendCSV|block": "storage %source|%filename|append CSV %data",
+  "storage.Storage.appendLine|block": "storage %source|%filename|append line %data",
+  "storage.Storage.append|block": "storage %source|%filename|append %data",
+  "storage.Storage.exists|block": "storage %source|%filename|exists",
+  "storage.Storage.limit|block": "storage %source|limit %filename|to %size|bytes",
+  "storage.Storage.overwrite|block": "storage %source|%filename|overwrite with|%data",
+  "storage.Storage.read|block": "storage %source|read %filename|as string",
+  "storage.Storage.remove|block": "storage %source|remove %filename",
+  "storage.Storage.size|block": "storage %source|%filename|size",
+  "storage.temporary|block": "temporary",
+  "storage|block": "storage",
+  "{id:category}Storage": "Storage"
+}
--- a/libs/storage/pxt.json
+++ b/libs/storage/pxt.json
@ -0,0 +1,14 @@
+{
+    "name": "storage",
+    "description": "USB Pen-drive support and flash storage",
+    "files": [
+        "storage.cpp",
+        "storage-core.ts",
+        "storage.ts",
+        "shims.d.ts"
+    ],
+    "public": true,
+    "dependencies": {
+        "core": "file:../core"
+    }
+}
--- a/libs/storage/shims.d.ts
+++ b/libs/storage/shims.d.ts
@ -0,0 +1,17 @@
+// Auto-generated. Do not edit.
+declare namespace storage {
+
+    /** Will be moved. */
+    //% shim=storage::__stringToBuffer
+    function __stringToBuffer(s: string): Buffer;
+
+    /** Will be moved. */
+    //% shim=storage::__bufferToString
+    function __bufferToString(s: Buffer): string;
+
+    /** Create named directory. */
+    //% shim=storage::__mkdir
+    function __mkdir(filename: string): void;
+}
+
+// Auto-generated. Do not edit. Really.
--- a/libs/storage/storage-core.ts
+++ b/libs/storage/storage-core.ts
@ -0,0 +1,202 @@
+namespace storage {
+    //% shim=storage::__unlink
+    function __unlink(filename: string): void { }
+    //% shim=storage::__truncate
+    function __truncate(filename: string): void { }
+
+    //% fixedInstances
+    export class Storage {
+        csvSeparator: string;
+        constructor() {
+            this.csvSeparator = ",";
+        }
+
+        protected mapFilename(filename: string) {
+            return filename;
+        }
+
+        private getFile(filename: string): MMap {
+            filename = this.mapFilename(filename)
+            let r = control.mmap(filename, 0, 0)
+            if (!r) {
+                __mkdir(this.dirname(filename))
+                __truncate(filename)
+                r = control.mmap(filename, 0, 0)
+            }
+            if (!r)
+                control.panic(906)
+            return r
+        }
+
+        dirname(filename: string) {
+            let last = 0
+            for (let i = 0; i < filename.length; ++i)
+                if (filename[i] == "/")
+                    last = i
+            return filename.substr(0, last)
+        }
+
+        /**
+         *  Append string data to a new or existing file. 
+         * @param filename the file name to append data, eg: "data.txt"
+         * @param data the data to append
+         */
+        //% blockId=storageAppend block="storage %source|%filename|append %data"
+        append(filename: string, data: string): void {
+            this.appendBuffer(filename, __stringToBuffer(data))
+        }
+
+        /**
+         * Appends a new line of data in the file
+         * @param filename the file name to append data, eg: "data.txt"
+         * @param data the data to append
+         */
+        //% blockId=storageAppendLine block="storage %source|%filename|append line %data"
+        appendLine(filename: string, data: string): void {
+            this.append(filename, data + "\r\n");
+        }
+
+        /** Append a buffer to a new or existing file. */
+        appendBuffer(filename: string, data: Buffer): void {
+            let f = this.getFile(filename);
+            f.lseek(0, SeekWhence.End)
+            f.write(data)
+        }
+
+        /**
+         * Append a row of CSV headers
+         * @param filename the file name to append data, eg: "data.csv"
+         * @param headers the data to append
+         */
+        //% blockId=storageAppendCSVHeaders block="storage %source|%filename|append CSV headers %headers"
+        appendCSVHeaders(filename: string, headers: string[]) {
+            let s = ""
+            for (const d of headers) {
+                if (s) s += this.csvSeparator;
+                s = s + d;
+            }
+            s += "\r\n"
+            this.append(filename, s)
+        }
+
+        /**
+         * Append a row of CSV data
+         * @param filename the file name to append data, eg: "data.csv"
+         * @param data the data to append
+         */
+        //% blockId=storageAppendCSV block="storage %source|%filename|append CSV %data"
+        appendCSV(filename: string, data: number[]) {
+            let s = toCSV(data, this.csvSeparator);
+            this.append(filename, s)
+        }
+
+        /** Overwrite file with string data.
+         * @param filename the file name to append data, eg: "data.txt"
+         * @param data the data to append
+         */
+        //% blockId=storageOverwrite block="storage %source|%filename|overwrite with|%data"
+        overwrite(filename: string, data: string): void {
+            this.overwriteWithBuffer(filename, __stringToBuffer(data))
+        }
+
+        /** Overwrite file with a buffer. */
+        overwriteWithBuffer(filename: string, data: Buffer): void {
+            __truncate(this.mapFilename(filename))
+            this.appendBuffer(filename, data)
+        }
+
+        /** Tests if a file exists
+         * @param filename the file name to append data, eg: "data.txt"
+         */
+        //% blockId=storageExists block="storage %source|%filename|exists"
+        exists(filename: string): boolean {
+            return !!control.mmap(this.mapFilename(filename), 0, 0);
+        }
+
+        /** Delete a file, or do nothing if it doesn't exist. */
+        //% blockId=storageRemove block="storage %source|remove %filename"
+        remove(filename: string): void {
+            __unlink(this.mapFilename(filename))
+        }
+
+        /** Return the size of the file, or -1 if it doesn't exists. */
+        //% blockId=storageSize block="storage %source|%filename|size"
+        size(filename: string): int32 {
+            let f = control.mmap(this.mapFilename(filename), 0, 0)
+            if (!f) return -1;
+            return f.lseek(0, SeekWhence.End)
+        }
+
+        /** Read contents of file as a string. */
+        //% blockId=storageRead block="storage %source|read %filename|as string"
+        read(filename: string): string {
+            return __bufferToString(this.readAsBuffer(filename))
+        }
+
+        /** Read contents of file as a buffer. */
+        //%
+        readAsBuffer(filename: string): Buffer {
+            let f = this.getFile(filename)
+            let sz = f.lseek(0, SeekWhence.End)
+            let b = output.createBuffer(sz)
+            f.lseek(0, SeekWhence.Set);
+            f.read(b)
+            return b
+        }
+
+        /**
+         * Resizing the size of a file to stay under the limit
+         * @param filename name of the file to drop
+         * @param size maximum length
+         */
+        //% blockId=storageLimit block="storage %source|limit %filename|to %size|bytes"
+        limit(filename: string, size: number) {
+            if (!this.exists(filename) || size < 0) return;
+
+            const sz = storage.temporary.size(filename);
+            if (sz > size) {
+                let buf = storage.temporary.readAsBuffer(filename)
+                buf = buf.slice(buf.length / 2);
+                storage.temporary.overwriteWithBuffer(filename, buf);
+            }
+        }
+    }
+
+    export function toCSV(data: number[], sep: string) {
+        let s = ""
+        for (const d of data) {
+            if (s) s += sep;
+            s = s + d;
+        }
+        s += "\r\n"
+        return s;
+    }
+
+    class TemporaryStorage extends Storage {
+        constructor() {
+            super();
+        }
+
+        protected mapFilename(filename: string) {
+            if (filename[0] == '/') filename = filename.substr(1);
+            return '/tmp/logs/' + filename;
+        }
+    }
+
+    /**
+     * Temporary storage in memory, deleted when the device restarts.
+     */
+    //% whenUsed fixedInstance block="temporary"
+    export const temporary: Storage = new TemporaryStorage();
+
+    class PermanentStorage extends Storage {
+        constructor() {
+            super()
+        }
+
+        protected mapFilename(filename: string) {
+            if (filename[0] == '/') return filename;
+            return '/' + filename;
+        }
+    }
+}
--- a/libs/storage/storage.cpp
+++ b/libs/storage/storage.cpp
@ -0,0 +1,44 @@
+#include "pxt.h"
+
+#include <sys/types.h>
+#include <unistd.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+namespace storage {
+
+/** Will be moved. */
+//%
+Buffer __stringToBuffer(String s) {
+    return mkBuffer((uint8_t *)s->data, s->length);
+}
+
+/** Will be moved. */
+//%
+String __bufferToString(Buffer s) {
+    return mkString((char*)s->data, s->length);
+}
+
+//%
+void __init() {
+    // do nothing
+}
+
+//%
+void __unlink(String filename) {
+    ::unlink(filename->data);
+}
+
+//%
+void __truncate(String filename) {
+    int fd = open(filename->data, O_CREAT | O_TRUNC | O_WRONLY, 0777);
+    close(fd);
+}
+
+/** Create named directory. */
+//%
+void __mkdir(String filename) {
+    ::mkdir(filename->data, 0777);
+}
+
+} // namespace storage
--- a/libs/storage/storage.ts
+++ b/libs/storage/storage.ts
@ -0,0 +1,11 @@
+namespace storage {
+    // automatically send console output to temp storage
+    storage.temporary.remove("console.txt");
+    console.addListener(function(line) {
+        const fn = "console.txt";
+        const mxs = 65536;
+        const t = control.millis();
+        storage.temporary.appendLine(fn, `${t}> ${line}`);
+        storage.temporary.limit(fn, 65536);
+    })    
+}
--- a/libs/touch-sensor/docs/reference/sensors/touch-sensor.md
+++ b/libs/touch-sensor/docs/reference/sensors/touch-sensor.md
@ -1,11 +1,11 @@
 # Touch Sensor

 ```cards
-sensors.touchSensor1.onEvent(TouchSensorEvent.Pressed, function () {
+sensors.touch1.onEvent(TouchSensorEvent.Pressed, function () {
    brick.showImage(images.expressionsBigSmile)
 })
-sensors.touchSensor1.isPressed();
-sensors.touchSensor1.wasPressed();
+sensors.touch1.isPressed();
+sensors.touch1.wasPressed();
 ```

 ## See Also
--- a/libs/touch-sensor/docs/reference/sensors/touch-sensor/is-pressed.md
+++ b/libs/touch-sensor/docs/reference/sensors/touch-sensor/is-pressed.md
@ -2,10 +2,10 @@

 ```blocks
 loops.forever(function () {
-    if (sensors.touchSensor1.isPressed()) {
-        brick.setStatusLight(LightsPattern.Green)
+    if (sensors.touch1.isPressed()) {
+        brick.setLight(BrickLight.Green)
    } else {
-        brick.setStatusLight(LightsPattern.Orange)
+        brick.setLight(BrickLight.Orange)
    }
 })
 ```
--- a/libs/touch-sensor/docs/reference/sensors/touch-sensor/on-event.md
+++ b/libs/touch-sensor/docs/reference/sensors/touch-sensor/on-event.md
@ -1,7 +1,7 @@
 # On Event

 ```sig
-sensors.touchSensor1.onEvent(TouchSensorEvent.Released, function () { })
+sensors.touch1.onEvent(TouchSensorEvent.Released, function () { })
 ```

 # Parameters
@ -10,7 +10,7 @@ sensors.touchSensor1.onEvent(TouchSensorEvent.Released, function () { })


 ```blocks
-sensors.touchSensor1.onEvent(TouchSensorEvent.Released, function () {
+sensors.touch1.onEvent(TouchSensorEvent.Released, function () {
    brick.showImage(images.expressionsSick)
 })
 ```
--- a/libs/touch-sensor/docs/reference/sensors/touch-sensor/was-pressed.md
+++ b/libs/touch-sensor/docs/reference/sensors/touch-sensor/was-pressed.md
@ -2,10 +2,10 @@

 ```blocks
 loops.forever(function () {
-    if (sensors.touchSensor1.wasPressed()) {
-        brick.setStatusLight(LightsPattern.Green)
+    if (sensors.touch1.wasPressed()) {
+        brick.setLight(BrickLight.Green)
    } else {
-        brick.setStatusLight(LightsPattern.Orange)
+        brick.setLight(BrickLight.Orange)
    }
 })
 ```
--- a/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json
+++ b/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-jsdoc-strings.json
@ -5,5 +5,7 @@
  "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.setThreshold|param|value": "the value threshold",
+  "sensors.UltraSonicSensor.threshold": "Gets the threshold value",
+  "sensors.UltraSonicSensor.threshold|param|condition": "the proximity condition"
 }
--- a/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
+++ b/libs/ultrasonic-sensor/_locales/ultrasonic-sensor-strings.json
@ -6,6 +6,7 @@
  "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.UltraSonicSensor.threshold|block": "%sensor|%condition",
  "sensors.ultrasonic1|block": "ultrasonic 1",
  "sensors.ultrasonic2|block": "ultrasonic 2",
  "sensors.ultrasonic3|block": "ultrasonic 3",
--- a/libs/ultrasonic-sensor/ultrasonic.ts
+++ b/libs/ultrasonic-sensor/ultrasonic.ts
@ -2,21 +2,21 @@ enum UltrasonicSensorEvent {
    //% block="object detected"
    ObjectDetected = 10,
    //% block="object near"
-    ObjectNear = sensors.internal.ThresholdState.Low,
+    ObjectNear = sensors.ThresholdState.Low,
    //% block="object far"
-    ObjectFar = sensors.internal.ThresholdState.High
+    ObjectFar = sensors.ThresholdState.High
 }

 namespace sensors {

    //% fixedInstances
    export class UltraSonicSensor extends internal.UartSensor {
-        private promixityThreshold: sensors.internal.ThresholdDetector;
+        private promixityThreshold: sensors.ThresholdDetector;
        private movementThreshold: number;

        constructor(port: number) {
            super(port)
-            this.promixityThreshold = new sensors.internal.ThresholdDetector(this.id(), 0, 255, 10, 100); // range is 0..255cm
+            this.promixityThreshold = new sensors.ThresholdDetector(this.id(), 0, 255, 10, 100); // range is 0..255cm
            this.movementThreshold = 1;
        }

@ -93,20 +93,36 @@ namespace sensors {
         * @param value the value threshold
         */
        //% blockId=ultrasonicSetThreshold block="set %sensor|%condition|to %value"
-        //% group="Threshold" blockGap=8
+        //% group="Threshold" blockGap=8 weight=80
        //% value.min=0 value.max=255
-        setThreshold(condition: UltrasonicSensorEvent, value: number) {            
-            switch(condition) {
+        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;
            }
        }
+
+        /**
+         * Gets the threshold value
+         * @param condition the proximity condition
+         */
+        //% blockId=ultrasonicGetThreshold block="%sensor|%condition"
+        //% group="Threshold" blockGap=8 weight=79
+        //% sensor.fieldEditor="ports"
+        threshold(condition: UltrasonicSensorEvent): number {
+            switch (condition) {
+                case UltrasonicSensorEvent.ObjectNear: this.promixityThreshold.threshold(ThresholdState.Low); break;
+                case UltrasonicSensorEvent.ObjectFar: this.promixityThreshold.threshold(ThresholdState.Low); break;
+                case UltrasonicSensorEvent.ObjectDetected: this.movementThreshold; break;
+            }
+            return 0;
+        }
    }
-  
+
    //% fixedInstance whenUsed block="ultrasonic 4" jres=icons.port4
    export const ultrasonic4: UltraSonicSensor = new UltraSonicSensor(4)
-    
+
    //% fixedInstance whenUsed block="ultrasonic 1" jres=icons.port1
    export const ultrasonic1: UltraSonicSensor = new UltraSonicSensor(1)

--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Peli de Halleux	02b0716043	0.0.75	2018-01-30 08:28:12 -08:00
Peli de Halleux	188d5b3aa7	threshold query api	2018-01-30 08:27:23 -08:00
Peli de Halleux	16c67f0e30	Refactoring datalog in common packages (#249 ) * using datalog from common packages * upgrading common package link * updated block signatures * more docs	2018-01-29 19:46:54 -08:00
Peli de Halleux	104185a41e	0.0.74	2018-01-29 15:21:37 -08:00
Peli de Halleux	73363d11b2	Download dialog (#248 ) * download dialog * updated pxt reference * typo	2018-01-29 15:21:15 -08:00
Peli de Halleux	61996acdd9	0.0.73	2018-01-29 13:26:46 -08:00
Peli de Halleux	21deb45728	fixing release fiber	2018-01-29 13:26:31 -08:00
Peli de Halleux	34578d2370	0.0.72	2018-01-29 11:20:46 -08:00
Peli de Halleux	3f50b5c39a	updated pxt references + hero banner	2018-01-29 11:20:34 -08:00
Peli de Halleux	d371225066	0.0.71	2018-01-23 14:53:09 -08:00
Peli de Halleux	387effbdd0	upgraded to run in parallel	2018-01-23 14:52:41 -08:00
Peli de Halleux	18480080e7	updated tutorial format	2018-01-19 15:42:23 -08:00
Peli de Halleux	bf6a932e5f	Color calibration (#245 ) * better handling of thresholds, color calibration strategy * updating calibration parameters	2018-01-19 13:11:11 -08:00
Peli de Halleux	23bb316403	settle robot once brake is applied	2018-01-18 21:28:00 -08:00
Peli de Halleux	138de504e5	minor high contrast fixes	2018-01-18 21:03:57 -08:00
Peli de Halleux	df13e40a45	fixing make it move	2018-01-18 16:47:00 -08:00
Peli de Halleux	511ea2374b	fixing summary	2018-01-18 16:44:57 -08:00
Peli de Halleux	db4ed6daf3	fixing a bunch of snippets	2018-01-18 16:43:16 -08:00
Peli de Halleux	a60427e2cf	using audio context manager function (#243 ) * using audio context manager function * updated pxt reference * trigger build	2018-01-18 13:53:33 -08:00
Peli de Halleux	ef5b4172e8	missing file logo	2018-01-18 12:42:11 -08:00
Peli de Halleux	7baf7cfede	0.0.70	2018-01-18 12:13:17 -08:00
Peli de Halleux	efd6718ea3	converted lesson to tutorial	2018-01-18 12:09:43 -08:00
Peli de Halleux	057a1d66dc	PID support (#242 ) * updated block definitions * updated dependency on common packages	2018-01-18 10:34:06 -08:00
Galen Nickel	5ddfcd5508	Prototype lesson 'Make it Move" (#241 ) * Prototype lesson 'Make it Move" * Wrong blockq type	2018-01-17 19:45:07 -08:00
Galen Nickel	00f0922189	Merge pull request #240 from Microsoft/line-detect-lesson Prototype lesson for 'Line Detection'	2018-01-17 19:07:29 -08:00
ganicke	41f4b64087	Add to gallerys	2018-01-17 18:52:49 -08:00
ganicke	ea5ee1c007	Prototype lesson for 'Line Detection'	2018-01-17 17:02:11 -08:00
Peli de Halleux	603e4c0fc1	0.0.69	2018-01-16 17:06:52 -08:00
Peli de Halleux	e50c88008a	updated gyrobox	2018-01-16 17:05:57 -08:00
Peli de Halleux	f057964a50	pausing until sound is done in mood	2018-01-16 16:44:32 -08:00
Peli de Halleux	2eda2061cf	updated modified gyro boy	2018-01-16 16:26:49 -08:00
Peli de Halleux	a4ebf4c746	moving moods in separate namespace	2018-01-16 16:21:02 -08:00
Peli de Halleux	f1880897d4	0.0.68	2018-01-16 16:08:53 -08:00
Peli de Halleux	ad2e82060d	removing BrickLight blockIdenity notations	2018-01-16 15:59:40 -08:00
Peli de Halleux	d1bb19e30e	adding a mood block (image+sound+light)	2018-01-16 14:52:49 -08:00
Peli de Halleux	280963d1eb	0.0.67	2018-01-15 23:58:31 -08:00
Peli de Halleux	9fadf49b0e	Support for multiple motors in "used" logic. (#238 ) * handle registerion of dual / single motors * updated puppy	2018-01-15 23:57:21 -08:00
Peli de Halleux	3c2be25384	some core set adapted codes	2018-01-15 21:27:19 -08:00
Peli de Halleux	e1f623a94d	Added description to timers	2018-01-15 03:41:14 -08:00
Peli de Halleux	cb5f9648f5	fixed sound name	2018-01-14 19:49:40 -08:00
Peli de Halleux	9158cfe4f6	0.0.66	2018-01-13 08:31:38 -08:00
Peli de Halleux	0b763978f2	gyro boy improvements (#236 ) gyro boy improvements	2018-01-13 08:31:10 -08:00
Peli de Halleux	25fded6afb	0.0.65	2018-01-13 00:02:01 -08:00
Peli de Halleux	fc6fb0811f	Timers (#235 ) * adding timer support * updates strings	2018-01-13 00:00:55 -08:00
Peli de Halleux	49bedcbcc5	0.0.64	2018-01-12 16:12:02 -08:00
Sam El-Husseini	32876f4584	Merge pull request #234 from Microsoft/largemotorview Fix large motor SVG hole	2018-01-12 13:51:00 -08:00
Sam El-Husseini	da9bea30b5	Update large motor view SVG so that the drop shadow is outside the hole SVG	2018-01-12 13:50:09 -08:00
Sam El-Husseini	d0aa68aeee	0.0.63	2018-01-12 13:33:45 -08:00
Sam El-Husseini	51731fbbc9	bump pxt-common-packages to 0.15.5,	2018-01-12 13:33:40 -08:00
Sam El-Husseini	751ea1494b	motor slider fixes and fix motor output in vm	2018-01-12 13:33:25 -08:00
Sam El-Husseini	dfe84471e8	Merge pull request #144 from Microsoft/motorslider Add motor slider control	2018-01-12 13:04:45 -08:00
Peli de Halleux	0f3de6cf07	0.0.62	2018-01-11 22:56:34 -08:00
Peli de Halleux	21195e4abf	Datalog (#233 ) * support for custom csv separator * simple datalog frameowrk * api strings * hide setfile * storage fixes * log seconds, not milliseconds	2018-01-11 22:53:28 -08:00
Peli de Halleux	c992100a38	added option to append CSV headers	2018-01-11 21:36:43 -08:00
Michał Moskal	20a4673f98	First draft of storage APIs (#122 ) * First draft of storage APIs * bumped pxt-core * using fixed instances to seprate temp from permanent * send console to storage * sim support * missing sim stubs * adding storage blocks * more sim support * remove storage from default package * fix rendering of ms * render raw ms * slize at better place * duplicate bundled dir * refactor limit * simplify limit logic	2018-01-11 20:05:45 -08:00
Peli de Halleux	0dd5ab9bde	appliying manual speed	2018-01-10 14:08:50 -08:00
Sam El-Husseini	e93e659e8a	nit: remove unnecessary comment	2018-01-10 13:51:35 -08:00
Sam El-Husseini	8357372fb5	Update to make it more like a crank	2018-01-10 13:47:39 -08:00
Sam El-Husseini	10cd39a4ec	Merge branch 'master' into motorslider	2018-01-10 12:52:51 -08:00
Sam El-Husseini	aa8635c4e7	Always use the motor slider control	2018-01-10 10:00:48 -08:00
Sam El-Husseini	4e4f5495da	Merge branch 'master' into motorslider	2018-01-10 09:56:59 -08:00
Sam El-Husseini	16b9a5027d	Add rotate icons	2017-12-29 11:39:06 -08:00
Sam El-Husseini	cbe68b3199	Add motor slider control	2017-12-28 13:23:30 -08:00