0.0.73

* better handling of thresholds, color calibration strategy

* updating calibration parameters

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
 

docs/SUMMARY.md

@@ -1,6 +1,38 @@
 # @extends
 
-## Lessons #Lessons
+## 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)

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
-```

docs/coding/reverse-beeper-3.md

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

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

@@ -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)

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)

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)

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)

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)

docs/examples/core-set/puppy-labview.md

@@ -81,7 +81,7 @@ function IS(t: number) {
 
 function UP() {
     if (motors.largeA.angle() > -50) {
-        control.runInBackground(function () {
+        control.runInParallel(function () {
             motors.largeD.clearCounts()
             motors.largeD.setSpeed(-35);
             pauseUntil(() => motors.largeD.angle() < -25);

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)
 })
 ```

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

@@ -1,6 +1,6 @@
 # Make It Move Without Wheels 
 
-## Objective @fullscreen
+## Objective @unplugged
 
 Design, build and program a robot that can move itself:
 
@@ -13,7 +13,7 @@ Your robot will:
 ![LECG Mindstorms brick with parts](/static/lessons/make-it-move/locomotion-no-wheels.jpg)
 
 
-## Construct @fullscreen
+## Construct @unplugged
 
 Build a Walker Bot!
 
@@ -67,6 +67,6 @@ motors.stopAllMotors()
 brick.showString("30 cm", 1)
 ```
 
-## Program 4 @fullscreen
+## Download @fullscreen
 
 Click `|Download|` and follow the instructions to get your code onto your EV3 Brick. Press the **center** button on the EV3 Brick to run the program.

docs/lessons/make-it-move.md

@@ -40,8 +40,8 @@ Change the rotations to `9`.
 
 The ``||motors:tank large B+C||`` block will run for `9` rotations when the **center** button is pressed on the EV3 brick. The motors are set for the reverse direction because they are mounted upside down in this model.
 
-```typescript-ignore
-motors.largeBC.tankFor(-60, 60, 9, MoveUnit.Rotations)
+```blocks
+motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
 ```
 
 ### Step 2
@@ -50,9 +50,9 @@ Place a ``||motors:stop all motors||`` block under ``||motors:tank large B+C||``
 
 The ``||motors:tank large B+C||`` block will run for `9` rotations when the **center** button is pressed on the EV3 brick then stop.
 
-```typescript-ignore
-motors.largeBC.tankFor(-60, 60, 9, MoveUnit.Rotations)
-motors.stopAllMotors()
+```blocks
+motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
+motors.largeBC.stop()
 ```
 
 ### Step 3
@@ -62,9 +62,9 @@ Change the `"Hello World"` text to `"30 cm"`.
 
 The ``||motors:tank large B+C||`` will run for `9` rotations when the **center** button is pressed on the EV3 brick then stop and display "30 cm" on the EV3 Brick’s screen.
 
-```typescript-ignore
-motors.largeBC.tankFor(-60, 60, 9, MoveUnit.Rotations)
-motors.stopAllMotors()
+```blocks
+motors.largeBC.tank(-60, 60, 9, MoveUnit.Rotations)
+motors.largeBC.stop()
 brick.showString("30 cm", 1)
 ```
 

docs/maker/intruder-detector.md

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

docs/maker/puppet.md

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

docs/maker/security-gadget.md

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

docs/maker/sound-machine.md

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

docs/maker/sound-of-color.md

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

docs/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"/>
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+</svg>

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

@@ -1,5 +1,5 @@
 {
-  "automation": "Automation, process control and robotic controllers\n\nProcess control, automation, robotics AI",
+  "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",
@@ -8,6 +8,7 @@
   "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",

libs/automation/_locales/automation-strings.json

@@ -1,5 +1,5 @@
 {
-  "automation.PIDController.compute|block": "%pid|compute for timestep %timestep|(s) at state %y",
+  "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",

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",

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",

libs/base/pxt.json

@@ -17,7 +17,8 @@
         "control.cpp",
         "control.ts",
         "serial.cpp",
-        "serial.ts"
+        "serial.ts",
+        "fieldeditors.ts"
     ],
     "testFiles": [
         "test.ts"

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.

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).",

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",

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 +233,65 @@ 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);
         }
+
+        /**
+         * 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

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)
     }
 })
 ```

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)
     }
 })
 ```

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)
     }
 })
 ```

libs/core/_locales/core-strings.json

@@ -63,13 +63,13 @@
   "control|block": "control",
   "motors.Motor.angle|block": "%motor|angle",
   "motors.Motor.clearCounts|block": "%motor|clear counts",
-  "motors.Motor.setRegulated|block": "set %motor|regulated %value",
+  "motors.Motor.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|%",
@@ -101,6 +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",

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
@@ -499,3 +422,83 @@ namespace sensors.internal {
         TST_UART_WRITE = 0xc048740a,
     }
 }
+
+namespace sensors {
+    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 {
+                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 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;
+            }
+        }
+    }    
+}

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);
 }
 

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();
         }
 
         /**
@@ -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) {

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

libs/music/sounds.ts

@@ -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--;
+        });
     }
 }

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

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)
     }
 })
 ```

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)
 })
 ```

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)
     }
 })
 ```

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;
         }
 

package-lock.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.64",
+  "version": "0.0.73",
   "lockfileVersion": 1,
   "requires": true,
   "dependencies": {

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "0.0.70",
+  "version": "0.0.73",
   "description": "LEGO Mindstorms EV3 for Microsoft MakeCode",
   "private": true,
   "keywords": [
@@ -44,8 +44,8 @@
     "webfonts-generator": "^0.4.0"
   },
   "dependencies": {
-    "pxt-common-packages": "0.15.7",
-    "pxt-core": "3.0.11"
+    "pxt-common-packages": "0.17.11",
+    "pxt-core": "3.0.25"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

sim/state/sounds.ts

@@ -16,25 +16,8 @@ namespace pxsim.SoundMethods {
         return incr(buf)
     }
 
-    export function uint8ArrayToString(input: Uint8Array) {
-        let len = input.length;
-        let res = ""
-        for (let i = 0; i < len; ++i)
-            res += String.fromCharCode(input[i]);
-        return res;
-    }
-
-    export function play(buf: RefBuffer, volume: number) {
-        if (!buf) {
-            return Promise.resolve();
-        }
-        return new Promise<void>(resolve => {
-            let url = "data:audio/wav;base64," + btoa(uint8ArrayToString(buf.data))
-            audio = new Audio(url)
-            audio.onended = () => resolve();
-            audio.onpause = () => resolve();
-            audio.play();
-        })
+    export function play(buf: RefBuffer) {
+        return pxsim.AudioContextManager.playBufferAsync(buf);
     }
 
     export function stop() {

theme/style.less

@@ -111,4 +111,19 @@
     .sandboxfooter a:not(.thin) {
         color: @black !important;
     }
+}
+
+/** high contrast **/
+.hc {
+    .ui.menu, #downloadArea,
+    .menubar .ui.menu.fixed .ui.item.editor-menuitem .item.active {
+        background-color: black !important;
+        color: white !important;
+    }
+    .ui.red.corner.label {
+        border-color: #d4000d!important;
+    }
+    .menubar .ui.menu.fixed .item.editor-menuitem .ui.grid {
+        border-color: white !important;
+    }
 }