Add file listing and delete apis

* removed logging

* removing more logging

* always use step for single/multiple motors

* refactored schedule

* account for accel ramp up and down

* added default acc/decel

* rounding speed/angle

* remove hack

* use acceleration time in run too

* handle missing case

* adding notes on motors

* adding sample

* fixed ramp simulation

* clear defaults

* some docs, more later

* adding basic examples

* remove debug msg

* clean json

* added move schedule

* docs

* basic docs

.travis.yml

@@ -0,0 +1,9 @@
+language: node_js
+node_js:
+  - "8.9.0"
+script:
+  - "node node_modules/pxt-core/built/pxt.js travis"
+sudo: false
+cache:
+  directories:
+    - node_modules

README.md

@@ -1,13 +1,8 @@
-# LEGO® MINDSTORMS® Education EV3 for Microsoft MakeCode
+# LEGO® MINDSTORMS® Education EV3 for Microsoft MakeCode [![Build Status](https://travis-ci.org/microsoft/pxt-ev3.svg?branch=master)](https://travis-ci.org/microsoft/pxt-ev3)
 
-[![Build Status](https://ci2.dot.net/buildStatus/icon?job=Private/pxt_project_rainbow/master/pxt-ev3_Push)](https://ci2.dot.net/job/Private/job/pxt_project_rainbow/job/master/job/pxt-ev3_Push/)
+This repo contains the editor target hosted at https://makecode.mindstorms.com
 
-This repo contains the editor target hosted at https://makecode.legoeducation.com
-
-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
-
-## Local Dev setup
+## Local setup
 
 These instructions assume familiarity with dev tools and languages.
 
@@ -15,10 +10,6 @@ These instructions assume familiarity with dev tools and languages.
 * install Docker; make sure `docker` command is in your `PATH`
 * (optional) install [Visual Studio Code](https://code.visualstudio.com/)
 
-In a common folder,
-
-* clone https://github.com/Microsoft/pxt to ``pxt`` folder
-* clone https://github.com/Microsoft/pxt-common-packages to ``pxt-common-packages`` folder
 * clone https://github.com/Microsoft/pxt-ev3 to ``pxt-ev3`` folder
 * go to ``pxt`` and run
 
@@ -26,6 +17,18 @@ In a common folder,
 npm install
 ```
 
+* to run the local server,
+```
+pxt serve --cloud
+```
+
+## Local Dev setup
+
+In the common folder,
+
+* clone https://github.com/Microsoft/pxt to ``pxt`` folder
+* clone https://github.com/Microsoft/pxt-common-packages to ``pxt-common-packages`` folder
+
 * go to ``pxt-common-packages`` and run
 
 ```
@@ -57,12 +60,12 @@ cd libs/core
 pxt deploy
 ```
 
-### Jenkins build
-https://ci2.dot.net/job/Private/job/pxt_project_rainbow/job/master/
-
 ## License
 MIT
 
+## Trademarks
+MICROSOFT, the Microsoft Logo, and MAKECODE are registered trademarks of Microsoft Corporation. They can only be used for the purposes described in and in accordance with Microsoft’s Trademark and Brand guidelines published at https://www.microsoft.com/en-us/legal/intellectualproperty/trademarks/usage/general.aspx. If the use is not covered in Microsoft’s published guidelines or you are not sure, please consult your legal counsel or the MakeCode team (makecode@microsoft.com). 
+
 ## Code of Conduct
 
 This project has adopted the [Microsoft Open Source Code of Conduct](https://opensource.microsoft.com/codeofconduct/). For more information see the [Code of Conduct FAQ](https://opensource.microsoft.com/codeofconduct/faq/) or contact [opencode@microsoft.com](mailto:opencode@microsoft.com) with any additional questions or comments.

docfiles/footer.html

@@ -11,5 +11,8 @@
         <div class="ui container horizontal small divided link list">
             <a class="ui centered item" href="https://makecode.com/" title="Microsoft MakeCode" target="_blank" rel="noopener">Powered by Microsoft MakeCode</a>
         </div>
+        <div class="ui centered container small list">
+            <p class="item">LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are trademarks and/ or copyrights of the LEGO Group. ©2018 The LEGO Group. All rights reserved.</p>
+        </div>
     </div>
 </footer>

docs/SUMMARY.md

@@ -5,6 +5,7 @@
 * [Troubleshoot](/troubleshoot)
 * [EV3 Manager](https://ev3manager.education.lego.com/)
 * [LEGO Support](https://www.lego.com/service/)
+* [FIRST LEGO League](/fll)
 
 ## Projects #projects
 
@@ -18,11 +19,14 @@
     * [What Animal Am I?](/tutorials/what-animal-am-i)
     * [Music Brick](/tutorials/music-brick)
     * [Run Motors](/tutorials/run-motors)
+    * [Tank ZigZag](/tutorials/tank-zigzag)
     * [Touch to Run](/tutorials/touch-to-run)
     * [Touch Sensor Values](/tutorials/touch-sensor-values)
     * [What Color?](/tutorials/what-color)
     * [Line Following](/tutorials/line-following)
     * [Red Light, Green Light](/tutorials/redlight-greenlight)
+    * [Reflected Light Measure](/tutorials/reflected-light-measure)
+    * [Reflected Light Calibration](/tutorials/reflected-light-calibration)
     * [Object Near?](/tutorials/object-near)
     * [Security Alert](/tutorials/security-alert)
 
@@ -82,12 +86,12 @@
             * [reset](/reference/sensors/gyro/reset)
         * [Ultrasonic](/reference/sensors/ultrasonic)
             * [on event](/reference/sensors/ultrasonic/on-event)
-            * [distance](reference/sensors/ultrasonic/distance)
-            * [pause until](reference/sensors/ultrasonic/pause-until)
+            * [distance](/reference/sensors/ultrasonic/distance)
+            * [pause until](/reference/sensors/ultrasonic/pause-until)
         * [Infrared](/reference/sensors/infrared)
             * [on event](/reference/sensors/infrared/on-event)
-            * [distance](reference/sensors/infrared/proximity)
-            * [pause until](reference/sensors/infrared/pause-until)
+            * [distance](/reference/sensors/infrared/proximity)
+            * [pause until](/reference/sensors/infrared/pause-until)
         * [Infrared beacon](/reference/sensors/beacon)
             * [on event](/reference/sensors/beacon/on-event)
             * [pause until](/reference/sensors/beacon/pause-until)
@@ -123,3 +127,7 @@
         * [log](/reference/console/log)
         * [log value](/reference/console/log-value)
         * [send to screen](/reference/console/send-to-screen)
+
+## #misc
+
+## devs

docs/about/editor-features.md

@@ -70,3 +70,12 @@
 | ![Download button](/static/about/download-button.png) |
 | Download Button |
 
+#### #explorer-images
+
+| |
+|-|
+| ![Explorer button](/static/about/explorer-button.png) |
+| Explorer Button |
+|   |
+| ![Explorer File View](/static/about/explorer-view.png) |
+| Explorer File View |

docs/coding/autonomous-parking.md

@@ -12,7 +12,7 @@ Design cars that can park themselves safely without driver intervention.
 * What would it take to ensure that autonomous cars are safe?
 * What types of movements do autonomous cars need to perform?
 
-## Construct 
+## Construct
 
 ### Build
 
@@ -20,6 +20,12 @@ Build a @boardname@ vehicle that can park itself safely without driver intervent
 
 [![EV3- Robot Driving Base](/static/coding/autonomous-parking/ev3-robot-driving-base.jpg)](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
 
+### ~hint
+
+If clicking the above image doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
+
+### ~
+
 ### Check
 
 Before you program, check:
@@ -28,7 +34,7 @@ Before you program, check:
 * Are the wheels correctly installed?
 * Are the wheels rotating freely?
 
-### Program 
+### Program
 
 Write a program that will make the robot turn three times in various ways.
 
@@ -109,7 +115,7 @@ Click Download and follow the instructions to get your code onto your EV3 Brick.
 
 ### Differentiation
 
-Create a program that simulates displaying appropriate warning lights while parking. 
+Create a program that simulates displaying appropriate warning lights while parking.
 
 ### ~hint
 
@@ -164,8 +170,8 @@ Click Download and follow the instructions to get your code onto your EV3 Brick.
 
 * Click on the JavaScript tab and experiment with changing the values in the code.
 * Add a custom image or sounds from the Brick or Music menus.
-* Create a video of your project, especially your final presentation and your robot’s performance. Explain some important features of your software program. 
-* Include an image of your program with comments. 
-* Add a team photograph! 
+* Create a video of your project, especially your final presentation and your robot’s performance. Explain some important features of your software program.
+* Include an image of your program with comments.
+* Add a team photograph!
 
 Congratulations! What will you design next?

docs/coding/line-detection.md

@@ -24,6 +24,12 @@ Build red and green “lights” for your robot to detect. You can use LEGO bric
 
 [![IMAGE: Color Squares](/static/coding/line-detection/ev3-color-squares.jpg)](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/color%20squares-0a88dfd98bb2e64b5b8151fc422bae36.pdf)
 
+### ~hint
+
+If clicking the above images doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
+
+### ~
+
 ### Check
 
 Before you program, check:
@@ -51,7 +57,7 @@ Consider using these blocks in your solution:
 
 ```block
 loops.forever(function () {
-	
+
 })
 motors.largeBC.steer(0, 50)
 sensors.color3.pauseUntilColorDetected(ColorSensorColor.Red)
@@ -77,9 +83,9 @@ loops.forever(function () {
 
 ### Download and test
 
-Click **Download** and follow the instructions to get your code onto your EV3 Brick. 
+Click **Download** and follow the instructions to get your code onto your EV3 Brick.
 
-Congratulations! Your robot can stop at a red light. 
+Congratulations! Your robot can stop at a red light.
 
 Now add to your program and have your robot to drive forward again when the light changes from red to green.
 
@@ -102,7 +108,7 @@ loops.forever(function () {
 
 ### Download and test
 
-Click **Download** and follow the instructions to get your code onto your EV3 Brick. 
+Click **Download** and follow the instructions to get your code onto your EV3 Brick.
 
 ## Contemplate
 
@@ -116,7 +122,7 @@ Draw a dark line with tape or marker for your robot to cross.
 
 Consider using these blocks in your solution:
 
-```block 
+```block
 motors.largeBC.steer(0, 50)
 music.playSoundEffect(sounds.systemGeneralAlert)
 ```
@@ -143,7 +149,7 @@ loops.forever(function () {
 
 #### Download and test
 
-Click **Download** and follow the instructions to get your code onto your EV3 Brick. 
+Click **Download** and follow the instructions to get your code onto your EV3 Brick.
 
 #### Differentiation
 
@@ -157,7 +163,7 @@ Consider using these blocks in your solution:
 
 ```block
 while (true) {
-	
+
 }
 motors.largeBC.steer(0, 50)
 ```
@@ -166,7 +172,7 @@ motors.largeBC.steer(0, 50)
 
 ```block
 if (true) {
-	
+
 } else {
 
 }
@@ -184,12 +190,10 @@ if (true) {
 
 ```blocks
 forever(function () {
-    while (true) {
-        sensors.color3.pauseUntilColorDetected(ColorSensorColor.Black)
+    while (sensors.color3.color() == ColorSensorColor.Black) {
         motors.largeBC.steer(-30, 50)
     }
-    while (true) {
-        sensors.color3.pauseUntilColorDetected(ColorSensorColor.White)
+    while (sensors.color3.color() == ColorSensorColor.White) {
         motors.largeBC.steer(30, 50)
     }
 })
@@ -203,11 +207,9 @@ Else the Color Sensor detects the color white, start motors ``B`` and ``C`` (dri
 
 ```blocks
 forever(function () {
-    if (true) {
-        sensors.color3.pauseUntilColorDetected(ColorSensorColor.Black)
+    if (sensors.color3.color() == ColorSensorColor.Black) {
         motors.largeBC.steer(-30, 50)
     } else {
-        sensors.color3.pauseUntilColorDetected(ColorSensorColor.White)
         motors.largeBC.steer(30, 50)
     }
 })
@@ -215,7 +217,7 @@ forever(function () {
 
 ### Download and test
 
-Click **Download** and follow the instructions to get your code onto your EV3 Brick. 
+Click **Download** and follow the instructions to get your code onto your EV3 Brick.
 
 ### Share
 
@@ -232,8 +234,8 @@ Personalize:
 
 * Click on the **JavaScript** tab and experiment with changing the values in the code.
 * Add a custom image or sounds from the ``||brick:Brick||`` or ``||music:Music||`` menus.
-* Create a video of your project, especially your final presentation and your robot’s performance. Explain some important features of your software program. 
-* Include an image of your program with comments. 
-* Add a team photograph! 
+* Create a video of your project, especially your final presentation and your robot’s performance. Explain some important features of your software program.
+* Include an image of your program with comments.
+* Add a team photograph!
 
 Congratulations! What will you design next?

docs/coding/object-detection.md

@@ -4,7 +4,7 @@ Design ways to avoid accidents between vehicles and objects in the road.
 
 ![Deer in the road](/static/coding/object-detection/road-deer.jpg)
 
-## Connect 
+## Connect
 
 Think about:
 
@@ -12,7 +12,7 @@ Think about:
 * What do you need to be aware of to avoid collisions with obstacles?
 * What causes traffic jams in high density areas?
 
-## Construct 
+## Construct
 
 ### Build
 
@@ -20,10 +20,16 @@ Build a @boardname@ vehicle that can avoid accidents between vehicles and object
 
 [![EV3 Robot Driving Base](/static/coding/object-detection/ev3-robot-driving-base.jpg)](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-ultrasonic-sensor-driving-base-61ffdfa461aee2470b8ddbeab16e2070.pdf)
 
-Build an obstacle for your robot to detect. You can build the **cuboid model** out of LEGO bricks or an obstacle of your choice. 
+Build an obstacle for your robot to detect. You can build the **cuboid model** out of LEGO bricks or an obstacle of your choice.
 
 [![Cubiod block](/static/coding/object-detection/ev3-cuboid.jpg)](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-cuboid-dc93b2e60bed2981e76b3bac9ea04558.pdf)
 
+### ~hint
+
+If clicking the above images doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
+
+### ~
+
 ### Check
 
 Before you program, check:
@@ -38,7 +44,7 @@ Before you program, check:
 * Program your robot to detect any obstacles that might appear while the robot is moving forward (or backward).
 * Make the robot stop when it detects an object that is less than 20 cm away.
 
-Before you program, think about:  
+Before you program, think about:
 * How will you program the robot to detect obstacles?
 * How will you program the robot to stop at obstacles?
 * Which programming blocks will you use?
@@ -59,7 +65,7 @@ motors.stopAll()
 
 ### ~
 
-### Sample Solution 
+### Sample Solution
 
 1. Start the program when EV3 ``enter`` button is pressed.
 2. Turn motors ``B`` and ``C`` on at speed ``50``.
@@ -80,7 +86,7 @@ Click **Download** and follow the instructions to get your code onto your EV3 Br
 
 ## Contemplate
 
-On the road, when a driver sees and object, they slow their car down before coming to a full stop. 
+On the road, when a driver sees and object, they slow their car down before coming to a full stop.
 
 Program your EV3 Driving Base to do the same.
 
@@ -93,7 +99,7 @@ If the Ultrasonic Sensor:
 ### ~hint
 
 Consider using this block in your solution:
- 
+
 ```block
 if (true) {
 }
@@ -101,7 +107,7 @@ if (true) {
 
 ### ~
 
-### Sample Solution 
+### Sample Solution
 
 ```blocks
 loops.forever(function () {
@@ -118,7 +124,7 @@ loops.forever(function () {
 
 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.
 
-## Continue 
+## Continue
 
 * Get together with other building teams and make a traffic jam by placing all of your robots in a line with varying amounts of space between them.
 * Have everyone start their robots at the same time and see what happens.
@@ -130,8 +136,8 @@ Click **Download** and follow the instructions to get your code onto your EV3 Br
 
 * Share what you think “efficiency in programming” means.
 * Explore the different solutions other programmers came up with.
-* Create a video of your project, especially your final presentation and your robot’s performance. Explain some important features of your software program. 
-* Include an image of your program with comments. 
-* Add a team photograph! 
+* Create a video of your project, especially your final presentation and your robot’s performance. Explain some important features of your software program.
+* Include an image of your program with comments.
+* Add a team photograph!
 
 Congratulations! What will you design next?

docs/design-engineering/make-it-communicate.md

@@ -1,6 +1,6 @@
 # Make A System That Communicates
 
-## Connect 
+## Connect
 
 ### Design Brief
 
@@ -20,10 +20,10 @@ Think about:
 * What kind of motorized mechanism can be used to control the movements of a robot?
 * How can the robot sense where it is along the path?
 * How can the robot communicate its position?
- 
+
 ![EV3 + LEGO Bricks](/static/lessons/make-it-communicate/ev3-plus-parts.jpg)
 
-## Construct 
+## Construct
 
 ### Build
 
@@ -37,13 +37,19 @@ More building ideas:
 
 [![Color Sensor 2](/static/lessons/make-it-communicate/ev3-color-sensor2.jpg)](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/color%20sensor_v2-e7fd54b6fa3cdfe36f414c1d2510f9cb.pdf)
 
+### ~hint
 
-Build a path for your robot to follow. You can use electrical tape on a floor, or marker on paper. You can use objects as milestones to indicate a path that can be detected by either the Touch Sensor, Color Sensor, or Ultrasonic Sensor. 
+If clicking the above images doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
 
-### Program 
+### ~
+
+
+Build a path for your robot to follow. You can use electrical tape on a floor, or marker on paper. You can use objects as milestones to indicate a path that can be detected by either the Touch Sensor, Color Sensor, or Ultrasonic Sensor.
+
+### Program
+
+Before you program, think about:
 
-Before you program, think about: 
- 
 * How will you program the robot to follow a path?
 * How will you program the robot to communicate its position?
 * Which programming blocks will you use?
@@ -54,7 +60,7 @@ Explore the different Motor and Sensor blocks in the programming menu.
 
 ### ~
 
-### Sample Solution 
+### Sample Solution
 
 [![Video: EV3 Track Rover](/static/lessons/make-it-communicate/ev3-track-rover.jpg)](https://legoeducation.23video.com/v.ihtml/player.html?token=79c99735f906403a4dd7f2909935983d&source=embed&photo%5fid=19857954)
 
@@ -70,15 +76,21 @@ Two copies of the tracks are built: one for the right side and a mirror image fo
 
 [![Track rover assembled](/static/lessons/make-it-communicate/ev3-track-rover2.jpg)](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/ev3-dep/building%20instructions/track-rover-bi-6aadb1b053df0c58a0dea108b5ce0eea.pdf)
 
-### Sample Program Solution 
+### ~hint
 
-This program works with the Track Rover. If you create a different robot, adjust the program to fit your solution. 
+If clicking the above image doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
 
-Program summary: 
+### ~
+
+### Sample Program Solution
+
+This program works with the Track Rover. If you create a different robot, adjust the program to fit your solution.
+
+Program summary:
 
 * If the Color Sensor sees black, Motor B runs at -50 power and Motor C turns off.
 * If the Color Sensor sees white, Motor B turns off and Motor C runs at -50 power.
-* If the Color Sensor sees green, all motors stop and the green sound plays. 
+* If the Color Sensor sees green, all motors stop and the green sound plays.
 * The robot waits one second, then motors move forward.
 * If the Color Sensor sees red, all motors stop, and the red sound plays.
 * The robot waits one second, then motors move forward.
@@ -108,44 +120,44 @@ forever(function () {
 
 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 
+## Contemplate
 
-### Test and Analyze 
+### Test and Analyze
 
 As you work on your solution:
 
-1. Describe one part of your design that worked especially well. 
-2. Describe one design change that you had to make. 
-3. What will you try next? 
+1. Describe one part of your design that worked especially well.
+2. Describe one design change that you had to make.
+3. What will you try next?
 
 
-### Review and Revise 
+### Review and Revise
 
-Take a moment to reflect on your robot solution. 
+Take a moment to reflect on your robot solution.
 
 Think about:
 
-* Can the robot’s movement be more accurate? 
+* Can the robot’s movement be more accurate?
 * What are some ways that others have solved the problem?
 
 Describe two ways you could improve your robot.
 
-## Continue 
+## Continue
 
 ### Personalize your project
 
-* Add/remove LEGO elements to improve the way your robot moves. 
+* Add/remove LEGO elements to improve the way your robot moves.
 * Click on the JavaScript tab and experiment with changing the values in the code.
 * Add a custom image or sounds by adding blocks from the Brick or Music menus.
 
-## Communicate 
+## Communicate
 
 Here are some ideas:
 
-* Create a video of your project, especially your final presentation and your robot’s performance. 
-* Explain some important features of your software program. 
-* Produce a building guide for your model by taking a series of photographs as you deconstruct it. 
-* Include an image of your program with comments. 
-* Add a team photograph! 
+* Create a video of your project, especially your final presentation and your robot’s performance.
+* Explain some important features of your software program.
+* Produce a building guide for your model by taking a series of photographs as you deconstruct it.
+* Include an image of your program with comments.
+* Add a team photograph!
 
 Congratulations! What will you design next?

docs/design-engineering/make-it-move.md

@@ -30,18 +30,26 @@ If you want some building help you can follow these instructions.
 
 [![Toddle Bot](/static/lessons/make-it-move/toddle-bot.jpg)](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/toddle%20bot-3dcad146d7f5deac4753f93e9dcc0739.pdf)
 
+Click [here](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/toddle%20bot-3dcad146d7f5deac4753f93e9dcc0739.pdf)
+
+### ~hint
+
+If clicking the above image or link doesn't open the instructions, right-click on the link and choose "Save link as..." to download the PDF.
+
+### ~
+
 ### Program
 
 Before you program, think about:
 
-* How will you program the robot to move? 
+* How will you program the robot to move?
 * How will you program the robot to stop?
 * How will you program the robot to display the distance moved?
 
 Which programming blocks will you use:
 
-* To turn on and turn off the motor or motors? 
-* To display the distance moved? 
+* To turn on and turn off the motor or motors?
+* To display the distance moved?
 
 ### Sample Code
 
@@ -49,7 +57,7 @@ Example code of a robot that moves without wheels using one motor:
 
 * The robot moves with ``large motor D`` rotating at ``-100`` speed
 * The robot moves for ``30000`` milliseconds (30 seconds)
-* The robot stops 
+* The robot stops
 * The robot displays the text ``"30cm"``
 
 ```blocks
@@ -65,7 +73,7 @@ brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
 
 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 
+## Contemplate
 
 ### Test and Analyze
 

docs/design-engineering/make-it-smarter.md

@@ -1,6 +1,6 @@
-# Make It Smarter and Faster 
+# Make It Smarter and Faster
 
-## Connect 
+## Connect
 
 ### Design Brief
 
@@ -10,52 +10,52 @@ https://www.youtube.com/watch?v=y9-A_C_08KY
 
 * What do the robots in the video need to be able to sense, plan, and act?
 * What senses do humans have and why are they important to us?
-* How many human-like senses do you see the robots demonstrating? 
+* How many human-like senses do you see the robots demonstrating?
 
-### Brainstorm 
+### Brainstorm
 
 Discuss different solutions to the design brief.
 
-Think about: 
+Think about:
 
-* What kind of creature can it be? 
-* How can it move? 
-* What does it need to be aware so that it stays safe, well fed and warm (or cool)? 
-* Is it looking for food, a safe place to hide or a warm place to soak up the sun? 
-* Will the creature need to move fast or slow? 
-* Will it need to turn? 
+* What kind of creature can it be?
+* How can it move?
+* What does it need to be aware so that it stays safe, well fed and warm (or cool)?
+* Is it looking for food, a safe place to hide or a warm place to soak up the sun?
+* Will the creature need to move fast or slow?
+* Will it need to turn?
 * Will it need to go backward?
 
 ![EV3 and bricks](/static/lessons/make-it-smarter/bricks.png)
 
 ## Construct
- 
+
 ### Build
 
 Think about a creature’s movement for inspiration. Your mechanism can be attached or unattached to the EV3 Brick. You can start by tinkering with the LEGO elements in the picture add then build on.
 
-More building ideas: 
+More building ideas:
 
-| | | | | |
-|-|-|-|-|-|
-|[![EV3 Frames](/static/lessons/make-it-smarter/ev3-parts-frames.jpg)][EV3 Frames] | |[![EV3 Color Sensor 1](/static/lessons/make-it-smarter/ev3-parts-color-sensor-1.jpg)][Color Sensor 1] | |[![EV3 Gyro Sensor](/static/lessons/make-it-smarter/ev3-parts-gyro-sensor.jpg)][Gyro Sensor] |
-| [EV3 Frames] | | [Color Sensor 1] | | [Gyro Sensor] |
-<br/>
 
-| | | | | |
-|-|-|-|-|-|
-|[![EV3 Ultrasonic Sensor](/static/lessons/make-it-smarter/ev3-parts-ultrasonic-sensor.jpg)][Ultrasonic Sensor] | | [![EV3 Touch Sensor](/static/lessons/make-it-smarter/ev3-parts-touch-sensor.jpg)][Touch Sensor] | | [![EV3 Gyro Sensor](/static/lessons/make-it-smarter/ev3-parts-jaw.jpg)][Jaw] |
-| [Ultrasonic Sensor] | | [Touch Sensor] | | [Jaw] |
-<br/>
+* [EV3 Frames]
+* [Color Sensor 1]
+* [Gyro Sensor]
+* [Ultrasonic Sensor]
+* [Touch Sensor]
+* [Jaw]
+* [Leg 1] 
+* [Leg 2]
+* [Leg 3]
 
-| | | | | |
-|-|-|-|-|-|
-| [![EV3 Leg 1](/static/lessons/make-it-smarter/ev3-parts-leg-1.jpg)][Leg 1] | | [![EV3 Leg 2](/static/lessons/make-it-smarter/ev3-parts-leg-2.jpg)][Leg 2] | | [![EV3 Leg 3](/static/lessons/make-it-smarter/ev3-parts-leg-3.jpg)][Leg 3] |
-| [Leg 1] | | [Leg 2] | | [Leg 3] |
+### ~hint
 
-### Program 
+If clicking the above links doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
 
-Before you program, think about:  
+### ~
+
+### Program
+
+Before you program, think about:
 
 * How will you program the robot to sense?
 * How will you program the robot to respond?
@@ -67,7 +67,7 @@ Before you program, think about:
 
 ### ~
 
-### Sample Solution 
+### Sample Solution
 
 The Insect uses its Ultrasonic Sensor to sense danger and move away from a threat.
 
@@ -86,18 +86,24 @@ Building Instructions:
 
 [![Insect robot](/static/lessons/make-it-smarter/insect-bot.jpg)](https://le-www-live-s.legocdn.com/sc/media/files/support/mindstorms%20ev3/building-instructions/design%20engineering%20projects/insect-94b8a46f0dc5082c9d78ddb734626dc9.pdf)
 
-### Sample Solution 
+### ~hint
 
-This program checks if the Ultrasonic Sensor senses something near. 
+If clicking the above images or links doesn't open the instructions, right-click on the link and choose "Save link as..." to download the PDF.
 
-The blocks inside the ``||loops:forever||`` loop have these actions: 
+### ~
+
+### Sample Solution
+
+This program checks if the Ultrasonic Sensor senses something near.
+
+The blocks inside the ``||loops:forever||`` loop have these actions:
 
 1. Turn on the ``green`` EV3 Brick Status Light.
 2. Wait for Ultrasonic Sensor to detect an object.
 3. Turn on Motors ``A`` and ``D`` in opposite directions.
-4. Wait for one quarter of a second (``1500`` milli seconds).
+4. Wait for one and a half seconds (``1500`` milli seconds).
 5. Reverse the direction of Motors ``A`` and ``D``.
-6. Wait for one quarter of a second.
+6. Wait for one and a half seconds.
 7. Stop all motors.
 8. Make an insect chirping sound.
 9. Loop continuously so that the insect wanders around when the Ultrasonic Sensor is detects something.
@@ -119,44 +125,44 @@ forever(function () {
 
 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 
+## Contemplate
 
-### Test and Analyze 
+### Test and Analyze
 
-As you work on your solution: 
-1. Describe one part of your design that worked especially well. 
-2. Describe one design change that you had to make. 
-3. What will you try next? 
+As you work on your solution:
+1. Describe one part of your design that worked especially well.
+2. Describe one design change that you had to make.
+3. What will you try next?
 
-### Review and Revise 
+### Review and Revise
 
-Take a moment to reflect on your robot solution. 
+Take a moment to reflect on your robot solution.
 
-Think about: 
+Think about:
 
-* Does your robot move when the sensor is activated? 
-* If not, what will you change to make the robot’s ability to sense and respond more obvious? 
-* What other behaviors can you add to the robot to make it more realistic? 
+* Does your robot move when the sensor is activated?
+* If not, what will you change to make the robot’s ability to sense and respond more obvious?
+* What other behaviors can you add to the robot to make it more realistic?
 
 Describe two ways you could improve your robot.
 
-## Continue 
+## Continue
 
 Personalize your project:
 
-* Add/remove LEGO elements to improve the way your robot moves. 
+* Add/remove LEGO elements to improve the way your robot moves.
 * Click on the JavaScript tab and experiment with changing the values in the code.
 * Add a custom image or sounds by adding blocks from the Brick or Music menus.
 * Does your robot resemble a creature? Maybe add more craft materials to your project.
 
-## Communicate 
+## Communicate
 
-Here are some ideas: 
+Here are some ideas:
 
-* Create a video of your project, especially your final presentation and your robot’s performance. Explain some important features of your software program. 
-* Produce a building guide for your model by taking a series of photographs as you deconstruct it. 
-* Include an image of your program with comments. 
-* Add a team photograph! 
+* Create a video of your project, especially your final presentation and your robot’s performance. Explain some important features of your software program.
+* Produce a building guide for your model by taking a series of photographs as you deconstruct it.
+* Include an image of your program with comments.
+* Add a team photograph!
 
 Congratulations! What will you design next?
 

docs/extensions.md

@@ -0,0 +1,18 @@
+# Extensions
+
+## #gallery
+
+## Using Extensions
+
+In the web editor, click on ``Settings`` then ``Extensions`` to search and add extensions to the project.
+The Blocks and JavaScript definitions will be automatically loaded in the editor.
+
+## Custom extensions
+
+The [Build Your Own Extension](https://makecode.com/extensions/getting-started) manual is for advanced users who want to publish their own extension. 
+
+## ~ hint
+
+**Extensions** were previously called **Packages** in MakeCode.
+
+## ~

docs/fll.md

@@ -0,0 +1,112 @@
+# MakeCode for _FIRST_ LEGO League
+
+![FIRST LEGO League logo](/static/fll/fll-logo.png)
+
+**For teams participating in the Open Software Platform Pilot utilizing MakeCode**, we’ve compiled a list of resources and information that we hope will be helpful for you.
+
+* **Got a question? Post it on the forums** at https://forum.makecode.com/
+
+## FAQ
+
+### I found a bug what do I do?
+
+If you found a bug, please try if it hasn't been fixed yet! Go to https://makecode.mindstorms.com/beta and try if the bug is corrected. Otherwise, please tell us at https://forum.makecode.com/.
+
+### How do I use MakeCode with my EV3?
+
+* You will need to install the latest EV3 firmware on your brick. Instructions on how to do that are located here: https://makecode.mindstorms.com/troubleshoot.
+* You will need a computer with a USB port to connect to the EV3 in order to download your programs.
+* You will need internet access and a browser on your computer to get to https://makecode.mindstorms.com.
+
+### What’s the best way to get started with MakeCode?
+
+Watch some of the videos at https://makecode.mindstorms.com (at the bottom of the page).
+Try some of the provided tutorials:
+
+* [Wake Up!](@homeurl@#tutorial:tutorials/wake-up) – show your EV3 brick waking up
+* [Animation](@homeurl@#tutorial:tutorials/make-an-animation) – create a custom animation to show
+* [Music Brick](@homeurl@#tutorial:tutorials/music-brick) – transform your EV3 into a musical instrument
+* [Run Motors](@homeurl@#tutorial:tutorials/run-motors) – control the motors of your robot
+* [Red Light, Green Light](@homeurl@#tutorial:tutorials/redlight-greenlight) – play red light, green light with the color sensor
+* [Line Following](@homeurl@#tutorial:tutorials/line-following) – have your robot follow a line
+
+### Can I load both LEGO MINDSTORMS EV3 Software and MakeCode programs onto my EV3?
+
+Yes.
+
+### How do I figure out what a block does?
+
+You can right-click on any block and select “Help” in the context menu to open the documentation page describing what that block does.
+
+![Select help in context menu for block](/static/fll/context-help.jpg)
+
+### How do I program in JavaScript?
+
+Click the **JavaScript** button at the top of the page to get to the JavaScript editor. Students can drag and drop code snippets from the Toolbox on the left, or type directly in the editor. You can switch back and forth between **Blocks** and **JavaScript** as you program.
+
+![Coding in JavaScript](/static/fll/code-js.gif)
+
+Also, watch the [Text-based Coding](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=3513a83b87fe536b2dc512237465fd1b&source=embed&photo%5fid=35719471) video for more about coding using the JavaScript editor.
+
+### How do I use the Simulator?
+
+The Simulator will show the physical representation of your code blocks. For example, based on this code snippet, the Simulator will show the touch sensor on Port 1, and a large motor on Port D.
+
+```blocks
+sensors.touch1.onEvent(ButtonEvent.Pressed, function () {
+    motors.largeD.run(50)
+})
+```
+
+![Simulator demonstration](/static/fll/simulator.gif)
+
+Note that the Simulator is also interactive, so you can simulate inputs with any of the sensors.
+
+See the video [Block-based Coding and Simulation](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=629730c938e452f0fd7653fbc4708166&source=embed&photo%5fid=35719470) for more about using the simulator.
+
+### How do I save my programs?
+
+MakeCode will automatically save your recent projects in the browser. However, you can also save a copy of your project as a file on your computer:
+
+* From the **Settings** menu, select **Save Project**
+* This will download your program from the browser as a _lego-myproject.uf2_ file
+
+![Save project menu selection](/static/fll/save-project.jpg)
+
+* You can import your saved projects by clicking the Import button on the Home Page
+ 
+![Import button on home screen](/static/fll/import-button.jpg)
+
+### How do I share my programs?
+
+You can share your projects by clicking on the **share** button in the top left of the screen.  This will create a URL which you can send others to open and view your project.
+ 
+![Share button in editor](/static/fll/share-button.jpg)
+
+![Share button and dialogs demo](/static/fll/share-program.gif)
+
+Sharing programs is also shown in the [Tips and Tricks](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5c594c2373367f7870196f519f3bfc7a&source=embed&photo%5fid=35719472) video.
+
+### Why can't I delete my program (*.uf2) files from the Brick?
+
+There's a bug in the firmware which prevents you from deleting the programs (``*.uf2`` files) from your EV3 Brick. There isn't a firmware update to fix this yet. As a workaround, you can temporarily downgrade your firmware version, delete the files, and then upgrade back to the version that works with MakeCode.
+
+Follow these steps to downgrade your firmware version, delete the files, and uprgade back again:
+
+1. Go into **EV3 LabVIEW** - if it's not installed get it [here](https://education.lego.com/en-us/downloads/mindstorms-ev3/software)
+2. Plug in your EV3 Brick and start a new project
+3. Go to the **Tools** menu in the upper right corner, select **Firmware Update**
+4. In the **Firmware Update** dialog box, click on the **Show Details** button
+5. From the **Available Firmware Files** list, select **EV3 Firmware V1.09E**
+6. Click the **Update Firmware** button and wait for the update to complete
+
+Now the firmware version on the EV3 Brick will be **V1.09E**. Also, in the process, the downgrade deleted all of the saved programs from the EV3 Brick. To continue to use MakeCode, the firmware version must be at **V1.10E** or above. So, the Brick firmware needs to be upgraded again. If you don't know or do remember how to do this, see the **Upgrade your @drivename@** section in the [troubleshooting](/troubleshoot) page.
+
+For other common questions, try the FAQ page https://makecode.mindstorms.com/faq.
+
+## Workarounds
+
+1. Deleting Programs from the EV3 brick
+
+>* Description: Unable to delete program files from the EV3 brick after downloading them
+>* Status: LEGO Education team is working on a fix, no estimated date yet

docs/getting-started.md

@@ -7,7 +7,7 @@
 {
     "name": "Prepare",
     "imageUrl": "/static/lessons/firmware.png",
-    "description": "To use Microsoft MakeCode with your EV3 Brick, you will need to install the latest LEGO® MINDSTORMS® Education EV3 firmware. Follow these steps to make sure you're up to date and install the latest firmware if you need to.",
+    "description": "To use Microsoft MakeCode with your EV3 Brick, you will need to install the latest LEGO® MINDSTORMS® Education EV3 firmware.",
     "label": "New? Start Here!",
     "labelClass": "red ribbon large",
     "url": "https://makecode.mindstorms.com/troubleshoot"
@@ -25,6 +25,12 @@
     "description": "Build a robot and drive into the world of robotics!",
     "url": "/getting-started/use",
     "cardType": "side"
+},
+{
+    "name": "First LEGO League",
+    "imageUrl": "/static/fll/fll-big.png",
+    "description": "Information about using MakeCode in FLL competitions",
+    "url": "/fll"
 }
 ]
 ```

docs/getting-started/try.md

@@ -135,15 +135,15 @@ Keeping the Large Motor connected to **Port D**, connect the Color Sensor to **P
 
 ```blocks
 brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
-    sensors.color3.pauseUntilColorDetected(ColorSensorColor.Green)
+    sensors.color4.pauseUntilColorDetected(ColorSensorColor.Green)
     motors.largeD.run(50, 1, MoveUnit.Rotations)
 })
 ```
 
-* Using the same program, replace the ``||sensors:pause until touch 1||`` block with a ``||sensors:pause color sensor 3||`` for color block.
+* Using the same program, replace the ``||sensors:pause until touch 1||`` block with a ``||sensors:pause color sensor 4||`` for color block.
 
 ```block
-sensors.color3.pauseUntilColorDetected(ColorSensorColor.Green)
+sensors.color4.pauseUntilColorDetected(ColorSensorColor.Green)
 ```
 
 * Select the color you want to detect (e.g., green).

docs/getting-started/use.md

@@ -20,6 +20,12 @@ Build the robot driving base:
 
 [![EV3 Driving Base](/static/lessons/common/ev3-driving-base.jpg)](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
 
+### ~hint
+
+If clicking the above image doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
+
+### ~
+
 ## Make It Move
 
 **Code it:** Create a program that makes the Driving Base move forward and stop at the finish line, which is ``1`` meter away.
@@ -68,6 +74,12 @@ Build and attach an Ultrasonic Sensor to your driving base:
 
 [![EV3 Ultrasonic Sensor Driving Base Building Instructions Main Image](/static/lessons/common/ev3-ultrasonic-sensor-driving-base.jpg)](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-ultrasonic-sensor-driving-base-61ffdfa461aee2470b8ddbeab16e2070.pdf)
 
+### ~hint
+
+If clicking the above image doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
+
+### ~
+
 ## Detect an Object
 
 **Code it:**  Create a program that moves the Driving Base and makes it stop ``6`` cm from the Cuboid.

docs/index-ref.json

@@ -1,3 +1,3 @@
 {
-    "appref": "v0.1.57"
+    "appref": "v1.0.11"
 }

docs/lessons/line-detection.md

@@ -3,7 +3,7 @@
 ## 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
@@ -20,6 +20,12 @@ Think about what you have learned, then document it. Describe the problem in you
 
 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.
 
+### ~hint
+
+If clicking the above image doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
+
+### ~
+
 ![Color sensor on the driving base](/static/lessons/line-detection/color-sensor-driving.jpg)
 
 ## Program
@@ -44,13 +50,13 @@ Create a program that drives the robot forward until the Color Sensor sees red.
 
 Place a ``||motors:steer large B+C||`` block from ``||motors:Motors||`` under ``||loops:on start||``. Change the speed to 20%.
 
-```blocks 
+```blocks
 motors.largeBC.steer(0, 20)
 ```
 
 ### Step 2
 
-Place a ``||loops:while||`` loop block under ``||motors:steer large B+C||``.  
+Place a ``||loops:while||`` loop block under ``||motors:steer large B+C||``.
 
 ```blocks
 motors.largeBC.steer(0, 20)
@@ -61,7 +67,7 @@ while (true) {
 ### Step 3
 
 Place a ``||sensors:pause until color detected||`` from ``||sensors:Sensors||`` inside the ``||loops:while||`` loop block. Change the color to red.
- 
+
 ```blocks
 motors.largeBC.steer(0, 20)
 while (true) {
@@ -99,7 +105,7 @@ Place a ``||loops:while||`` loop block under ``||loops:on start||``.
 
 ```blocks
 while (true) {
-    
+
 }
 ```
 
@@ -121,7 +127,7 @@ Place a ``||loops:while||`` loop block under the ``||motors:steer large B+C||``
 while (true) {
     motors.largeBC.steer(0, 20)
     while (true) {
-        
+
     }
 }
 ```
@@ -141,7 +147,7 @@ while (true) {
 
 ### Step 6
 
-Place a ``||motors:stop all motors||`` block under the ``||sensors:pause until color detected||`` block.  
+Place a ``||motors:stop all motors||`` block under the ``||sensors:pause until color detected||`` block.
 
 ```blocks
 while (true) {
@@ -165,7 +171,7 @@ while (true) {
         motors.stopAll()
     }
     while (true) {
-        
+
     }
 }
 ```
@@ -177,7 +183,7 @@ Place a ``||sensors:pause unril color detected||`` block inside the new ``||loop
 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)
@@ -212,7 +218,7 @@ sensors.color3.pauseUntilColorDetected(ColorSensorColor.Yellow)
 music.playSoundEffect(sounds.systemGeneralAlert)
 }
 while (true) {
-    while (true) {      
+    while (true) {
         sensors.color3.pauseUntilLightDetected(LightIntensityMode.Reflected, Light.Bright)
         motors.largeB.run(10)
         motors.largeC.run(-10)
@@ -235,7 +241,7 @@ You will need to constantly debug your program in order to make your robot trave
 
 ```blocks
 while (true) {
-    while (true) {   
+    while (true) {
         sensors.color3.pauseUntilLightDetected(LightIntensityMode.Reflected, Light.Bright)
         motors.largeB.run(10)
         motors.largeC.run(-10)
@@ -252,10 +258,10 @@ while (true) {
 
 Consider the following questions:
 
-1. What challenged you? 
-2. Where there any surprises? 
+1. What challenged you?
+2. Where there any surprises?
 3. How could you improve your program?
-4. Could your program have been more streamlined? 
+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?

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

@@ -1,4 +1,4 @@
-# Make It Move Without Wheels 
+# Make It Move Without Wheels
 
 ## Objective @unplugged
 
@@ -24,7 +24,13 @@ The Walker Bot combines an EV3 Frame and two legs that are mirror-images to crea
 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.
- 
+
+### ~hint
+
+If clicking the above image doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
+
+### ~
+
 ![@boardname@ Walker Bot](/static/lessons/make-it-move/walker-bot.jpg)
 
  

docs/lessons/make-it-move.md

@@ -1,4 +1,4 @@
-# Make It Move Without Wheels 
+# Make It Move Without Wheels
 
 ## Objective
 
@@ -23,7 +23,13 @@ The Walker Bot combines an EV3 Frame and two legs that are mirror-images to crea
 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.
- 
+
+### ~hint
+
+If clicking the above image doesn't open the instructions, right-click on the image and choose "Save link as..." to download the PDF.
+
+### ~
+
 ![@boardname@ Walker Bot](/static/lessons/make-it-move/walker-bot.jpg)
 
  

docs/maker/security-gadget.md

@@ -42,14 +42,12 @@ This activity uses sensor inputs. You may want to try the [Use](/getting-started
 
 Follow the steps of the _Maker Design Process_ for this lesson:
 
-| | |
-|-|-|
-| ![Paper sheet icon](/static/maker/design-process-icons/define-problem.png) | **Define the Problem** |
-| ![Lightbulb icon](/static/maker/design-process-icons/brainstorming.png) | **Brainstorming** |
-| ![Checkmark icon](/static/maker/design-process-icons/define-criteria.png) | **Define the Design Criteria** |
-| ![Connector icon](/static/maker/design-process-icons/go-make.png) | **Go Make** |
-| ![Redo icon](/static/maker/design-process-icons/review-revise.png) | **Review and Revise Your Solution** |
-| ![Speaker icon](/static/maker/design-process-icons/communicate.png) | **Communicate Your Solution** |
+* Define the Problem
+* Brainstorming
+* Define the Design Criteria
+* Go Make
+* Review and Revise Your Solution
+* Communicate Your Solution
 
 ### Defining the Problem
 

docs/maker/sound-machine.md

@@ -41,14 +41,12 @@ This activity uses motor rotations and sensor inputs. You may want to try the [U
 
 Follow the steps of the _Maker Design Process_ for this lesson:
 
-| | |
-|-|-|
-| ![Paper sheet icon](/static/maker/design-process-icons/define-problem.png) | **Define the Problem** |
-| ![Lightbulb icon](/static/maker/design-process-icons/brainstorming.png) | **Brainstorming** |
-| ![Checkmark icon](/static/maker/design-process-icons/define-criteria.png) | **Define the Design Criteria** |
-| ![Connector icon](/static/maker/design-process-icons/go-make.png) | **Go Make** |
-| ![Redo icon](/static/maker/design-process-icons/review-revise.png) | **Review and Revise Your Solution** |
-| ![Speaker icon](/static/maker/design-process-icons/communicate.png) | **Communicate Your Solution** |
+* Define the Problem
+* Brainstorming
+* Define the Design Criteria
+* Go Make
+* Review and Revise Your Solution
+* Communicate Your Solution
 
 ### Defining the Problem
 

docs/offline-app.html

@@ -0,0 +1,791 @@
+<!DOCTYPE html>
+<html xmlns="http://www.w3.org/1999/xhtml" xmlns:og="http://ogp.me/ns#" xmlns:fb="http://www.facebook.com/2008/fbml">
+
+<head>
+    <meta charset="UTF-8">
+    <title>LEGO® MINDSTORMS® Education EV3 Offline App</title>
+    <meta name="Description" content="A MakeCode for LEGO® MINDSTORMS® Education EV3 offline app" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <!-- @include indexhead.html -->
+
+    <style>
+        p.item {
+            color: rgba(0, 0, 0, 0.4);
+        }
+
+        .topbar {
+            background: rgb(170, 39, 143) !important;
+        }
+
+        .ui.inverted.content {
+            /* background: #00a5c8; */
+            background: #2a7af3;
+        }
+
+        .content.segment {
+            min-height: 80%;
+        }
+
+        .content .welcomeheader {
+            font-weight: 300;
+        }
+
+        .footer.segment {
+            padding: 5em 0em;
+        }
+
+        .image.left {
+            padding-left: 2em;
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+        $(document).ready(function () {
+            tickEvent = function (id, data) {
+                if (!pxt.aiTrackEvent) return;
+                if (!data) pxt.aiTrackEvent(id);
+                else {
+                    var props = {};
+                    var measures = {};
+                    for (var k in data)
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+        function agreeCheckboxChanged() {
+            var downloadSegment = document.getElementById("download-segment");
+            downloadSegment.classList.toggle("hidden");
+        }
+        function downloadWin64() {
+            // TODO: Keep this link up-to-date with the desired release version
+            window.open("https://makecode.com/api/release/ev3/v1.0.11/win64");
+            tickEvent("offlineapp.download", { "target": "ev3", "platform": "win64" });
+        }
+        function downloadMac64() {
+            // TODO: Keep this link up-to-date with the desired release version
+            window.open("https://makecode.com/api/release/ev3/v1.0.11/mac64");
+            tickEvent("offlineapp.download", { "target": "ev3", "platform": "mac64" });
+        }
+    </script>
+
+</head>
+
+<body id="root" class="root">
+
+    <div class="ui inverted vertical center aligned segment content">
+
+        <div class="ui grid topbar">
+            <div class="three wide column">
+                <img class="ui small image left" src="/static//lego_education_logo_white.png" />
+            </div>
+            <div class="ten wide column">
+                <h1 class="ui inverted welcomeheader">MakeCode Offline App</h1>
+            </div>
+            <div class="three wide column">
+                <img class="ui small image right" src="/static//Microsoft-logo_rgb_c-white.png" />
+            </div>
+        </div>
+
+        <div class="ui compact segments terms-container">
+            <div class="ui secondary center aligned segment">
+                Please read and accept the following terms to download the app.
+            </div>
+            <div class="ui left aligned segment terms">
+                <div class="c17">
+                    <p class="c11">
+                        <span class="c4 c1">MICROSOFT PRE-RELEASE SOFTWARE LICENSE TERMS</span>
+                    </p>
+                    <p class="c11">
+                        <span class="c4 c1">MICROSOFT MAKECODE FOR LEGO MINDSTORMS EDUCATION EV3</span>
+                    </p>
+                    <p class="c7">
+                        <span class="c4 c1"></span>
+                    </p>
+                    <p class="c11">
+                        <span class="c3 c1">These license terms are an agreement between Microsoft Corporation (or based on where you live, one
+                            of its affiliates) and you. They apply to the software named above. The terms also apply to any
+                            Microsoft services or updates for the software, except to the extent those have additional terms.</span>
+                    </p>
+                    <p class="c7">
+                        <span class="c3 c1"></span>
+                    </p>
+                    <p class="c11">
+                        <span class="c4 c1">IF YOU COMPLY WITH THESE LICENSE TERMS, YOU HAVE THE RIGHTS BELOW.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">1.</span>
+                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
+                        <span class="c5 c1">INSTALLATION AND USE RIGHTS. </span>
+                        <span class="c3 c1">You may install and use any number of copies of the software to evaluate it as you develop and test
+                            your software applications for use with Lego Mindstorms Education EV3 hardware.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">2.</span>
+                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
+                        <span class="c5 c1">PRE-RELEASE SOFTWARE. </span>
+                        <span class="c3 c1">The software is a pre-release version. It may not work the way a final version of the software will.
+                            Microsoft may change it for the final, commercial version. We also may not release a commercial
+                            version. Microsoft is not obligated to provide maintenance, technical support or updates to you
+                            for the software.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">3.</span>
+                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
+                        <span class="c5 c1">ASSOCIATED ONLINE SERVICES.</span>
+                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Some features of the software provide access 
+                            to, or rely on, online services to provide you information about updates to the software or extensions, 
+                            or to enable you to retrieve content, collaborate with others, or otherwise supplement your development 
+                            experience.  As used throughout these license terms, the term <q>software</q> includes these online 
+                            services and features. By using these online services and features you consent to the to the 
+                            transmission of information as described in Section 5, DATA.
+                        </span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">4.</span>
+                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
+                        <span class="c5 c1">LICENSES FOR OTHER COMPONENTS.</span>
+                        <span class="c3 c1">&nbsp;The software may include third party components with separate legal notices or governed by
+                            other agreements, as described in the ThirdPartyNotices file accompanying the software. Even
+                            if such components are governed by other agreements, the disclaimers and the limitations on and
+                            exclusions of damages below also apply.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">5.</span>
+                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
+                        <span class="c1 c4">DATA.</span>
+                    </p>
+                    <p class="c8">
+                        <span class="c5 c1">a.</span>
+                        <span class="c1">&nbsp; &nbsp;</span>
+                        <span class="c1 c5">Data Collection. </span>
+                        <span class="c1">The software may collect information about you and your use of the software, and send that to Microsoft.
+                            Microsoft may use this information to provide services and improve our products and services.
+                            You may opt out of many of these scenarios, but not all, as described in the product documentation.
+                            In using the software, you must comply with applicable law. You can learn more about data collection
+                            and use in the help documentation and the privacy statement at </span>
+                        <span class="c14 c1">
+                            <a class="c9" href="http://go.microsoft.com/fwlink/?LinkId=398505">http://go.microsoft.com/fwlink/?LinkId=398505</a>
+                        </span>
+                        <span class="c1">.</span>
+                        <span class="c3 c1">&nbsp;Your use of the software operates as your consent to these practices.</span>
+                    </p>
+                    <p class="c8">
+                        <span class="c5 c1">b.</span>
+                        <span class="c1">&nbsp; &nbsp;</span>
+                        <span class="c5 c1">Processing of Personal Data. </span>
+                        <span class="c1">To the extent Microsoft is a processor or subprocessor of personal data in connection with the software,
+                            Microsoft makes the commitments in the European Union General Data Protection Regulation Terms
+                            of the Online Services Terms to all customers effective May 25, 2018, at </span>
+                        <span class="c1 c14">
+                            <a class="c9" href="http://go.microsoft.com/?linkid=9840733">http://go.microsoft.com/?linkid=9840733</a>
+                        </span>
+                        <span class="c3 c1">.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">6.</span>
+                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
+                        <span class="c5 c1">FEEDBACK. </span>
+                        <span class="c3 c1">If you give feedback about the software to Microsoft, you give to Microsoft, without charge, the
+                            right to use, share and commercialize your feedback in any way and for any purpose. You will
+                            not give feedback that is subject to a license that requires Microsoft to license its software
+                            or documentation to third parties because we include your feedback in them. These rights survive
+                            this agreement.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">7.</span>
+                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
+                        <span class="c5 c1">SCOPE OF LICENSE.</span>
+                        <span class="c3 c1">&nbsp;The software is licensed, not sold. This agreement only gives you some rights to use the software.
+                            Microsoft reserves all other rights. Unless applicable law gives you more rights despite this
+                            limitation, you may use the software only as expressly permitted in this agreement. &nbsp;In
+                            doing so, you must comply with any technical limitations in the software that only allow you
+                            to use it in certain ways. You may not:</span>
+                    </p>
+                    <p class="c8">
+                        <span class="c3 c1">- &nbsp; &nbsp; work around any technical limitations in the software;</span>
+                    </p>
+                    <p class="c8">
+                        <span class="c3 c1">- &nbsp; &nbsp; reverse engineer, decompile or disassemble the software, or attempt to do so, except
+                            and only to the extent required by third party licensing terms governing use of certain open
+                            source components that may be included with the software;</span>
+                    </p>
+                    <p class="c8">
+                        <span class="c3 c1">- &nbsp; &nbsp; remove, minimize, block or modify any notices of Microsoft or its suppliers in the
+                            software;
+                        </span>
+                    </p>
+                    <p class="c8">
+                        <span class="c3 c1">- &nbsp; &nbsp; use the software in any way that is against the law; or</span>
+                    </p>
+                    <p class="c8">
+                        <span class="c3 c1">- &nbsp; &nbsp; share, publish, rent or lease the software, or provide the software as a stand-alone
+                            offering for others to use.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">8. &nbsp; UPDATES. </span>
+                        <span class="c3 c1">The software may periodically check for updates and download and install them for you. You may obtain
+                            updates only from Microsoft or authorized sources. Microsoft may need to update your system to
+                            provide you with updates. You agree to receive these automatic updates without any additional
+                            notice. Updates may not include or support all existing software features, services, or peripheral
+                            devices.
+                        </span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">9.</span>
+                        <span class="c1">&nbsp; &nbsp;</span>
+                        <span class="c5 c1">EXPORT RESTRICTIONS.</span>
+                        <span class="c3 c1">&nbsp;You must comply with all domestic and international export laws and regulations that apply
+                            to the software, which include restrictions on destinations, end users and end use. For further
+                            information on export restrictions, visit (aka.ms/exporting).</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">10.</span>
+                        <span class="c1">&nbsp;</span>
+                        <span class="c5 c1">SUPPORT SERVICES. </span>
+                        <span class="c3 c1">Because the software is &ldquo;as is,&rdquo; we may not provide support services for it.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">11.</span>
+                        <span class="c1">&nbsp;</span>
+                        <span class="c5 c1">ENTIRE AGREEMENT.</span>
+                        <span class="c3 c1">&nbsp;This agreement, and the terms for supplements, updates, Internet-based services and support
+                            services that you use, are the entire agreement for the software and support services.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">12.</span>
+                        <span class="c1">&nbsp;</span>
+                        <span class="c5 c1">APPLICABLE LAW. </span>
+                        <span class="c3 c1">If you acquired the software in the United States, Washington State law applies to interpretation
+                            of and claims for breach of this agreement, and the laws of the state where you live apply to
+                            all other claims. If you acquired the software in any other country, its laws apply.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">13.</span>
+                        <span class="c1">&nbsp;</span>
+                        <span class="c5 c1">CONSUMER RIGHTS; REGIONAL VARIATIONS. </span>
+                        <span class="c3 c1">This agreement describes certain legal rights. You may have other rights, including consumer rights,
+                            under the laws of your state or country. Separate and apart from your relationship with Microsoft,
+                            you may also have rights with respect to the party from which you acquired the software. This
+                            agreement does not change those other rights if the laws of your state or country do not permit
+                            it to do so. For example, if you acquired the software in one of the below regions, or mandatory
+                            country law applies, then the following provisions apply to you:</span>
+                    </p>
+                    <p class="c8">
+                        <span class="c5 c1">a.</span>
+                        <span class="c1">&nbsp; &nbsp;</span>
+                        <span class="c5 c1">Australia. </span>
+                        <span class="c3 c1">You have statutory guarantees under the Australian Consumer Law and nothing in this agreement is
+                            intended to affect those rights.</span>
+                    </p>
+                    <p class="c8">
+                        <span class="c5 c1">b.</span>
+                        <span class="c1">&nbsp; &nbsp;</span>
+                        <span class="c5 c1">Canada. </span>
+                        <span class="c3 c1">If you acquired the software in Canada, you may stop receiving updates by turning off the automatic
+                            update feature, disconnecting your device from the Internet (if and when you re-connect to the
+                            Internet, however, the software will resume checking for and installing updates), or uninstalling
+                            the software. The product documentation, if any, may also specify how to turn off updates for
+                            your specific device or software.</span>
+                    </p>
+                    <p class="c8">
+                        <span class="c5 c1">c.</span>
+                        <span class="c1">&nbsp; &nbsp;</span>
+                        <span class="c5 c1">Germany and Austria</span>
+                        <span class="c3 c1">.</span>
+                    </p>
+                    <p class="c6">
+                        <span class="c5 c1">(i)</span>
+                        <span class="c1">&nbsp; &nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
+                        <span class="c5 c1">Warranty</span>
+                        <span class="c3 c1">. The properly licensed software will perform substantially as described in any Microsoft materials
+                            that accompany the software. However, Microsoft gives no contractual guarantee in relation to
+                            the licensed software.</span>
+                    </p>
+                    <p class="c6">
+                        <span class="c4 c1">&nbsp;</span>
+                    </p>
+                    <p class="c6">
+                        <span class="c5 c1">(ii)</span>
+                        <span class="c1">&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
+                        <span class="c5 c1">Limitation of Liability</span>
+                        <span class="c3 c1">. In case of intentional conduct, gross negligence, claims based on the Product Liability Act, as
+                            well as, in case of death or personal or physical injury, Microsoft is liable according to the
+                            statutory law.</span>
+                    </p>
+                    <p class="c10">
+                        <span class="c3 c1">Subject to the foregoing clause (ii), Microsoft will only be liable for slight negligence if Microsoft
+                            is in breach of such material contractual obligations, the fulfillment of which facilitate the
+                            due performance of this agreement, the breach of which would endanger the purpose of this agreement
+                            and the compliance with which a party may constantly trust in (so-called &quot;cardinal obligations&quot;).
+                            In other cases of slight negligence, Microsoft will not be liable for slight negligence.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">14.</span>
+                        <span class="c1">&nbsp;</span>
+                        <span class="c5 c1">LEGAL EFFECT.</span>
+                        <span class="c3 c1">&nbsp;This agreement describes certain legal rights. You may have other rights under the laws of
+                            your country. You may also have rights with respect to the party from whom you acquired the software.
+                            This agreement does not change your rights under the laws of your country if the laws of your
+                            country do not permit it to do so.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">15.</span>
+                        <span class="c1">&nbsp;</span>
+                        <span class="c4 c1">DISCLAIMER OF WARRANTY. THE SOFTWARE IS LICENSED &ldquo;AS-IS.&rdquo; &nbsp;YOU BEAR THE RISK OF
+                            USING IT. MICROSOFT GIVES NO EXPRESS WARRANTIES, GUARANTEES OR CONDITIONS. TO THE EXTENT PERMITTED
+                            UNDER YOUR LOCAL LAWS, MICROSOFT EXCLUDES THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS
+                            FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c5 c1">16.</span>
+                        <span class="c1">&nbsp;</span>
+                        <span class="c4 c1">LIMITATION ON AND EXCLUSION OF DAMAGES. YOU CAN RECOVER FROM MICROSOFT AND ITS SUPPLIERS ONLY DIRECT
+                            DAMAGES UP TO U.S. $5.00. YOU CANNOT RECOVER ANY OTHER DAMAGES, INCLUDING CONSEQUENTIAL, LOST
+                            PROFITS, SPECIAL, INDIRECT OR INCIDENTAL DAMAGES.</span>
+                    </p>
+                    <p class="c0">
+                        <span class="c3 c1">This limitation applies to (a) anything related to the software, services, content (including code)
+                            on third party Internet sites, or third party programs; and (b) claims for breach of contract,
+                            breach of warranty, guarantee or condition, strict liability, negligence, or other tort to the
+                            extent permitted by applicable law.</span>
+                    </p>
+                    <p class="c0">
+                        <span class="c3 c1">It also applies even if Microsoft knew or should have known about the possibility of the damages.
+                            The above limitation or exclusion may not apply to you because your country may not allow the
+                            exclusion or limitation of incidental, consequential or other damages.</span>
+                    </p>
+                    <p class="c12">
+                        <span class="c4 c1">Please note: As the software is distributed in Quebec, Canada, some of the clauses in this agreement
+                            are provided below in French.</span>
+                    </p>
+                    <p class="c12">
+                        <span class="c4 c1">Remarque : Ce logiciel &eacute;tant distribu&eacute; au Qu&eacute;bec, Canada, certaines des clauses
+                            dans ce contrat sont fournies ci-dessous en fran&ccedil;ais.</span>
+                    </p>
+                    <p class="c11">
+                        <span class="c5 c1">EXON&Eacute;RATION DE GARANTIE.</span>
+                        <span class="c1 c3">&nbsp;Le logiciel vis&eacute; par une licence est offert &laquo; tel quel &raquo;. Toute utilisation
+                            de ce logiciel est &agrave; votre seule risque et p&eacute;ril. Microsoft n&rsquo;accorde aucune
+                            autre garantie expresse. Vous pouvez b&eacute;n&eacute;ficier de droits additionnels en vertu
+                            du droit local sur la protection des consommateurs, que ce contrat ne peut modifier. La ou elles
+                            sont permises par le droit locale, les garanties implicites de qualit&eacute; marchande, d&rsquo;ad&eacute;quation
+                            &agrave; un usage particulier et d&rsquo;absence de contrefa&ccedil;on sont exclues.
+                        </span>
+                    </p>
+                    <p class="c11">
+                        <span class="c5 c1">LIMITATION DES DOMMAGES-INT&Eacute;R&Ecirc;TS ET EXCLUSION DE RESPONSABILIT&Eacute; POUR LES DOMMAGES.</span>
+                        <span class="c3 c1">&nbsp;Vous pouvez obtenir de Microsoft et de ses fournisseurs une indemnisation en cas de dommages
+                            directs uniquement &agrave; hauteur de 5,00 $ US. Vous ne pouvez pr&eacute;tendre &agrave; aucune
+                            indemnisation pour les autres dommages, y compris les dommages sp&eacute;ciaux, indirects ou
+                            accessoires et pertes de b&eacute;n&eacute;fices.</span>
+                    </p>
+                    <p class="c12">
+                        <span class="c3 c1">Cette limitation concerne :</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c3 c1">- &nbsp; &nbsp; &nbsp; &nbsp; tout ce qui est reli&eacute; au logiciel, aux services ou au contenu
+                            (y compris le code) figurant sur des sites Internet tiers ou dans des programmes tiers ; et</span>
+                    </p>
+                    <p class="c2">
+                        <span class="c3 c1">- &nbsp; &nbsp; &nbsp; &nbsp; les r&eacute;clamations au titre de violation de contrat ou de garantie,
+                            ou au titre de responsabilit&eacute; stricte, de n&eacute;gligence ou d&rsquo;une autre faute
+                            dans la limite autoris&eacute;e par la loi en vigueur.</span>
+                    </p>
+                    <p class="c12">
+                        <span class="c3 c1">Elle s&rsquo;applique &eacute;galement, m&ecirc;me si Microsoft connaissait ou devrait conna&icirc;tre
+                            l&rsquo;&eacute;ventualit&eacute; d&rsquo;un tel dommage. Si votre pays n&rsquo;autorise pas
+                            l&rsquo;exclusion ou la limitation de responsabilit&eacute; pour les dommages indirects, accessoires
+                            ou de quelque nature que ce soit, il se peut que la limitation ou l&rsquo;exclusion ci-dessus
+                            ne s&rsquo;appliquera pas &agrave; votre &eacute;gard.</span>
+                    </p>
+                    <p class="c16">
+                        <span class="c5 c1">EFFET JURIDIQUE.</span>
+                        <span class="c3 c1">&nbsp;Le pr&eacute;sent contrat d&eacute;crit certains droits juridiques. Vous pourriez avoir d&rsquo;autres
+                            droits pr&eacute;vus par les lois de votre pays. Le pr&eacute;sent contrat ne modifie pas les
+                            droits que vous conf&egrave;rent les lois de votre pays si celles-ci ne le permettent pas.</span>
+                    </p>
+                    <p class="c15">
+                        <span class="c3 c1"></span>
+                    </p>
+                    <p class="c16">
+                        <span class="c3 c1">&nbsp;</span>
+                    </p>
+                    <p class="c11">
+                        <span class="c3 c1">LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are trademarks and/ or copyrights of
+                            the LEGO Group. &copy;2018 The LEGO Group. All rights reserved.</span>
+                    </p>
+                    <p class="c11">
+                        <span class="c3 c1">&nbsp;</span>
+                    </p>
+                    <p class="c20">
+                        <span class="c5 c1 c13">Remainder of this page intentionally left blank.</span>
+                    </p>
+                    <p class="c7">
+                        <span class="c3 c19"></span>
+                    </p>
+                </div>
+            </div>
+            <div class="ui center aligned segment">
+                <input id="agree-checkbox" type="checkbox" autocomplete="off" onchange="agreeCheckboxChanged(this)">
+                <label for="agree-checkbox">I agree to these Microsoft Software License Terms and to the
+                    <a href="https://privacy.microsoft.com/en-us/privacystatement">Microsoft Privacy Statement.</a>
+                </label>
+            </div>
+            <div id="download-segment" class="ui center aligned segment hidden">
+                <div class="ui grid">
+                    <div class="eight wide column">
+                        <h3 class="ui">Windows</h3>
+                        <button class="ui icon button" onclick="downloadWin64()">
+                            <i class="download icon"></i>
+                            makecode-ev3-setup-win64.exe
+                        </button>
+                    </div>
+                    <div class="eight wide column">
+                        <h3 class="ui">Mac OS</h3>
+                        <button class="ui icon button" onclick="downloadMac64()">
+                            <i class="download icon"></i>
+                            makecode-ev3-mac64.zip
+                        </button>
+                    </div>
+                </div>
+            </div>
+        </div>
+
+    </div>
+
+    <!-- @include footer.html -->
+    <!-- @include tracking.html -->
+
+</body>
+
+</html>

docs/offline.md

@@ -0,0 +1,11 @@
+# @extends
+
+## Offline app #target-app
+
+The MakeCode editor is available as app which you can install on a computer with Windows or Mac OS. Once installed, the **[MakeCode Offline App](/offline-app)** lets you create, run, and download your projects to the @boardname@. It works the same as the Web application does in your browser but it's a stand-alone application that will work when a connection to the internet is restricted or not available.
+
+### ~ hint
+
+The [MakeCode Offline App](/offline-app) is currently in development and is made available as a **pre-release** version. 
+
+### ~

docs/packages-ref.json

@@ -0,0 +1,3 @@
+{
+    "redirect": "/extensions"
+}

docs/packages/approval-ref.json

@@ -0,0 +1,3 @@
+{
+    "redirect": "https://makecode.com/extensions/approval"
+}

docs/packages/build-your-own-ref.json

@@ -0,0 +1,3 @@
+{
+    "redirect": "https://makecode.com/extensions/getting-started"
+}

docs/packages/versioning-ref.json

@@ -0,0 +1,3 @@
+{
+    "redirect": "https://makecode.com/extensions/versioning"
+}

docs/reference/motors/motor/run.md

@@ -6,9 +6,9 @@ Set the rotation speed of the motor as a percentage of maximum speed.
 motors.largeA.run(50)
 ```
 
-The speed setting is a pecentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
+The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
 
-If you use just the **speed** number, the motor runs continously and won't stop unless you tell it to. You can also give a value for a certain amount of distance you want the motor to rotate for. The **value** can be an amount of time, a turn angle in degrees, or a number of full rotations.
+If you use just the **speed** number, the motor runs continuously and won't stop unless you tell it to. You can also give a value for a certain amount of distance you want the motor to rotate for. The **value** can be an amount of time, a turn angle in degrees, or a number of full rotations.
 
 If you decide to use a **value** of rotation distance, you need to choose a type of movement **unit**.
 
@@ -30,8 +30,8 @@ Here is how you use each different movement unit to run the motor for a fixed ro
 // Run motor for 700 Milliseconds. 
 motors.largeA.run(25, 700, MoveUnit.MilliSeconds);
 
-// Run motor for 700 Milliseconds again but no units specified. 
-motors.largeA.run(25, 700);
+// Run motors B and C for 700 Milliseconds again but no units specified. 
+motors.largeBC.run(25, 700);
 
 // Run the motor for 45 seconds
 motors.largeA.run(50, 45, MoveUnit.Seconds);
@@ -61,6 +61,14 @@ motors.largeB.run(-25)
 
 ## ~
 
+## Multiple motors
+
+When using **run** with multiple motors, there is no guarantee that their speed will stay in sync. Use [tank](/reference/motors/tank) or [steer](/reference/motors/steer) for synchronized motor operations.
+
+```blocks
+motors.largeBC.run(50)
+```
+
 ## Examples
 
 ### Drive the motor for 20 seconds

docs/reference/motors/motor/schedule.md

@@ -0,0 +1,22 @@
+# Schedule
+
+Schedules an acceleration, constant and deceleration phase at a given speed.
+
+```sig
+motors.largeA.schedule(50, 100, 500, 100)
+```
+
+The speed setting is a percentage of the motor's full speed. Full speed is the speed that the motor runs when the brick supplies maximum output voltage to the port.
+
+
+## Parameters
+
+* **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motor in the reverse direction.
+* **acceleration**: the [number](/types/number) of movement units to rotate for while accelerating.
+* **value**: the [number](/types/number) of movement units to rotate for.
+* **deceleration**: the [number](/types/number) of movement units to rotate for while decelerating.
+* **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.
+
+## See also
+
+[tank](/reference/motors/synced/tank), [steer](/reference/motors/synced/steer), [stop](/reference/motors/motor/stop)

docs/reference/motors/motor/set-run-acceleration-ramp.md

@@ -0,0 +1,20 @@
+# Set Run Acceleration Ramp
+
+```sig
+motors.largeD.setRunAccelerationRamp(1, MoveUnit.Seconds)
+```
+
+## Examples
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    motors.largeB.run(50, 6, MoveUnit.Rotations)
+})
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    motors.largeC.run(50, 6, MoveUnit.Seconds)
+})
+motors.largeB.setRunAccelerationRamp(360, MoveUnit.Degrees)
+motors.largeB.setRunDecelerationRamp(360, MoveUnit.Degrees)
+motors.largeC.setRunAccelerationRamp(2, MoveUnit.Seconds)
+motors.largeC.setRunDecelerationRamp(2, MoveUnit.Seconds)
+```

docs/reference/motors/motor/set-run-deceleration-ramp.md

@@ -0,0 +1,20 @@
+# Set Run Deceleration Ramp
+
+```sig
+motors.largeD.setRunDecelerationRamp(1, MoveUnit.Seconds)
+```
+
+## Examples
+
+```blocks
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    motors.largeB.run(50, 6, MoveUnit.Rotations)
+})
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    motors.largeC.run(50, 6, MoveUnit.Seconds)
+})
+motors.largeB.setRunAccelerationRamp(360, MoveUnit.Degrees)
+motors.largeB.setRunDecelerationRamp(360, MoveUnit.Degrees)
+motors.largeC.setRunAccelerationRamp(2, MoveUnit.Seconds)
+motors.largeC.setRunDecelerationRamp(2, MoveUnit.Seconds)
+```

docs/reference/motors/synced/steer.md

@@ -39,6 +39,13 @@ motors.largeBC.steer(-15, -75)
 
 ## ~
 
+## ~ hint
+
+Only one set of synchronized motors will run at the same time. Once you launch tank/steer, it will cancel any existing synchronized speed command.
+
+## ~
+
+
 ## Examples
 
 ### Make a slight right
@@ -79,6 +86,51 @@ for (let i = 0; i < 4; i++) {
 motors.stopAll()
 ```
 
+### Steer tester
+
+This program lets you change the values of speed and turn ratio with the buttons.
+
+```typescript
+let speed = 0;
+let turnRatio = 0;
+
+brick.showString(`steer tester`, 1)
+brick.showString(`connect motors BC`, 7)
+brick.showString(`up/down for speed`, 8)
+brick.showString(`left/right for turn ratio`, 9)
+
+forever(function () {
+    brick.showString(`motor B speed ${motors.largeB.speed()}%`, 4)
+    brick.showString(`motor C speed ${motors.largeC.speed()}%`, 5)
+    pause(100)
+})
+
+function updateSteer() {
+    motors.largeBC.steer(turnRatio, speed);
+    brick.showString(`speed ${speed}%`, 2)
+    brick.showString(`turnRatio ${turnRatio}`, 3)
+}
+
+brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {
+    speed += 10
+    updateSteer()
+})
+brick.buttonDown.onEvent(ButtonEvent.Pressed, function () {
+    speed -= 10
+    updateSteer()
+})
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    turnRatio -= 10
+    updateSteer()
+})
+brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
+    turnRatio += 10
+    updateSteer()
+})
+
+updateSteer()
+```
+
 ## See also
 
 [tank](/reference/motors/synced/tank), [run](/reference/motors/motor/run)

docs/reference/motors/synced/tank.md

@@ -35,6 +35,12 @@ motors.largeBC.tank(-75, -75)
 
 ## ~
 
+## ~ hint
+
+Only one set of synchronized motors will run at the same time. Once you launch tank/steer, it will cancel any existing synchronized speed command.
+
+## ~
+
 ## Examples
 
 ### Tank forward and backward
@@ -76,6 +82,51 @@ pause(5000)
 motors.stopAll()
 ```
 
+### Tank tester
+
+This program lets you change the tank values using the brick buttons.
+
+```typescript
+let tankB = 0;
+let tankC = 0;
+
+brick.showString(`tank tester`, 1)
+brick.showString(`connect motors BC`, 7)
+brick.showString(`up/down for tank B`, 8)
+brick.showString(`left/right for tank C`, 9)
+
+forever(function () {
+    brick.showString(`motor B speed ${motors.largeB.speed()}%`, 4)
+    brick.showString(`motor C speed ${motors.largeC.speed()}%`, 5)
+    pause(100)
+})
+
+function updateTank() {
+    brick.showString(`tank A: ${tankB}%`, 2)
+    brick.showString(`tank B: ${tankC}%`, 3)
+    motors.largeBC.tank(tankB, tankC);
+}
+
+brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {
+    tankB += 10
+    updateTank();
+})
+brick.buttonDown.onEvent(ButtonEvent.Pressed, function () {
+    tankB -= 10
+    updateTank();
+})
+brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
+    tankC += 10
+    updateTank();
+})
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    tankC -= 10
+    updateTank();
+})
+
+updateTank();
+```
+
 ## See also
 
 [steer](/reference/motors/synced/steer), [run](/reference/motors/motor/run)

docs/static/githubfilelogo.svg

@@ -0,0 +1 @@
+<svg viewBox="0 0 32 32" xmlns="http://www.w3.org/2000/svg" fill-rule="evenodd" clip-rule="evenodd" stroke-linejoin="round" stroke-miterlimit="1.414"><path d="M16.097 2.686c-7.64 0-13.834 6.194-13.834 13.835 0 6.113 3.964 11.298 9.462 13.128.692.127.944-.301.944-.667 0-.328-.012-1.199-.019-2.353-3.848.836-4.66-1.855-4.66-1.855-.629-1.598-1.536-2.023-1.536-2.023-1.256-.859.095-.842.095-.842 1.388.099 2.119 1.426 2.119 1.426 1.234 2.114 3.238 1.504 4.027 1.15.125-.894.482-1.504.878-1.85-3.072-.349-6.302-1.536-6.302-6.838 0-1.51.539-2.745 1.424-3.712-.143-.35-.617-1.756.135-3.661 0 0 1.162-.372 3.805 1.418a13.228 13.228 0 0 1 3.464-.465c1.174.005 2.358.158 3.463.465 2.642-1.79 3.801-1.418 3.801-1.418.755 1.905.28 3.311.137 3.661.887.967 1.423 2.202 1.423 3.712 0 5.316-3.235 6.485-6.317 6.827.497.428.939 1.272.939 2.563 0 1.849-.017 3.341-.017 3.795 0 .37.249.8.951.665 5.494-1.833 9.454-7.015 9.454-13.126 0-7.641-6.195-13.835-13.836-13.835" fill="#696969"/></svg>

docs/tutorials.md

@@ -2,125 +2,41 @@
 
 Step by step guides to coding your @boardname@.
 
-## Brick
+## Tutorials
 
 ```codecard
 [{
-  "name": "Wake Up!",
-  "description": "Show different moods on the screen. Is it tired, sleepy, or awake?",
-  "cardType": "tutorial",
-  "url":"/tutorials/wake-up",
+  "name": "Brick",
+  "description": "Learn how to use the screen and the buttons",
+  "url":"/tutorials/brick",
   "imageUrl":"/static/tutorials/wake-up.png"
 }, {
-  "name": "Make an Animation",
-  "description": "Create a custom animation on your EV3 Brick Display.",
-  "cardType": "tutorial",
-  "url":"/tutorials/make-an-animation",
-  "imageUrl":"/static/tutorials/make-an-animation.png"
-}, {
-  "name": "What Animal Am I?",
-  "description": "Create different animal effects and have someone guess what the animal is.",
-  "cardType": "tutorial",
-  "url":"/tutorials/what-animal-am-i",
-  "imageUrl":"/static/tutorials/what-animal-am-i.png"
-}, {
-  "name": "Music Brick",
-  "description": "Transform the brick into a musical instrument!",
-  "cardType": "tutorial",
-  "url":"/tutorials/music-brick",
-  "imageUrl":"/static/tutorials/music-brick.png"
-}]
-```
-
-## Motors
-
-```codecard
-[{
-  "name": "Run Motors",
-  "description": "Use the EV3 Brick buttons to start and stop the Large Motor and Medium Motor.",
-  "cardType": "tutorial",
-  "url":"/tutorials/run-motors",
+  "name": "Motors",
+  "description": "User motors to move the brick.",
+  "url":"/tutorials/motors",
   "imageUrl":"/static/tutorials/run-motors.png"
-}]
-```
-
-## Touch Sensor
-
-```codecard
-[{
-  "name": "Touch to Run",
-  "description": "Press the Touch Sensor and run a motor.",
-  "cardType": "tutorial",
-  "url":"/tutorials/touch-to-run",
+}, {
+  "name": "Touch Sensor",
+  "description": "Use touch sensors in your robot.",
+  "url":"/tutorials/touch-sensor",
   "imageUrl":"/static/tutorials/touch-to-run.png"
 }, {
-  "name": "Touch Sensor Values",
-  "description": "Check the value of a Touch Sensor and stop a motor if pressed.",
-  "cardType": "tutorial",
-  "url":"/tutorials/touch-sensor-values",
-  "imageUrl":"/static/tutorials/touch-sensor-values.png"
-}]
-```
-
-## Color Sensor
-
-```codecard
-[{
-  "name": "What Color?",
-  "description": "Use the Color Sensor to detect different colors.",
-  "cardType": "tutorial",
-  "url":"/tutorials/what-color",
+  "name": "Color Sensor",
+  "description": "Use the color sensor to follow line or detect colors",
+  "url":"/tutorials/color-sensor",
   "imageUrl":"/static/tutorials/what-color.png"
 }, {
-  "name": "Line Following",
-  "description": "Use the Color Sensor to make a robot follow a line.",
-  "cardType": "tutorial",
-  "url":"/tutorials/line-following",
-  "imageUrl":"/static/tutorials/line-following.png"
-}, {
-  "name": "Red Light, Green Light",
-  "description": "Play Red Light, Green Light using the Color Sensor and the robot.",
-  "cardType": "tutorial",
-  "url":"/tutorials/redlight-greenlight",
-  "imageUrl":"/static/tutorials/redlight-greenlight.png"
-}]
-```
-
-## Ultrasonic Sensor
-
-```codecard
-[{
-  "name": "Object Near?",
-  "description": "Build a program that will detect when an object is nearby.",
-  "cardType": "tutorial",
-  "url":"/tutorials/object-near",
-  "imageUrl":"/static/tutorials/object-near.png"
-}]
-```
-
-## Infrared Sensor
-
-```codecard
-[{
-  "name": "Security Alert",
-  "description": "Build an security alert using the Infrared Sensor.",
-  "cardType": "tutorial",
-  "url":"/tutorials/security-alert",
+  "name": "Infrared Sensor",
+  "description": "Use the infrared sensor to detect objects",
+  "url":"/tutorials/infrared-sensor",
   "imageUrl":"/static/tutorials/security-alert.png"
 }]
 ```
 
 ## See Also
 
-[Wake Up!](/tutorials/wake-up),
-[Make An Animation](/tutorials/make-an-animation),
-[What Animal Am I?](/tutorials/what-animal-am-i),
-[Music Brick](/tutorials/music-brick),
-[Run Motors](/tutorials/run-motors),
-[Touch to Run](/tutorials/touch-to-run),
-[Touch Sensor Values](/tutorials/touch-sensor-values),
-[What Color?](/tutorials/what-color),
-[Line Following](/tutorials/line-following),
-[Red Light, Green Light](/tutorials/redlight-greenlight),
-[Object Near?](/tutorials/object-near),
-[Security Alert](/tutorials/security-alert)
+[Brick tutorials](/tutorials/brick),
+[Motors tutorials](/tutorials/motors),
+[Touch sensor tutorials](/tutorials/touch-sensor),
+[Color sensor tutorials](/tutorials/color-sensor),
+[Infrared sensor tutorials](/tutorials/infrared-sensor)

docs/tutorials/brick.md

@@ -0,0 +1,38 @@
+# Brick Tutorials
+
+## Tutorials
+
+```codecard
+[{
+  "name": "Wake Up!",
+  "description": "Show different moods on the screen. Is it tired, sleepy, or awake?",
+  "cardType": "tutorial",
+  "url":"/tutorials/wake-up",
+  "imageUrl":"/static/tutorials/wake-up.png"
+}, {
+  "name": "Make an Animation",
+  "description": "Create a custom animation on your EV3 Brick Display.",
+  "cardType": "tutorial",
+  "url":"/tutorials/make-an-animation",
+  "imageUrl":"/static/tutorials/make-an-animation.png"
+}, {
+  "name": "What Animal Am I?",
+  "description": "Create different animal effects and have someone guess what the animal is.",
+  "cardType": "tutorial",
+  "url":"/tutorials/what-animal-am-i",
+  "imageUrl":"/static/tutorials/what-animal-am-i.png"
+}, {
+  "name": "Music Brick",
+  "description": "Transform the brick into a musical instrument!",
+  "cardType": "tutorial",
+  "url":"/tutorials/music-brick",
+  "imageUrl":"/static/tutorials/music-brick.png"
+}]
+```
+
+## See Also
+
+[Wake Up!](/tutorials/wake-up),
+[Make An Animation](/tutorials/make-an-animation),
+[What Animal Am I?](/tutorials/what-animal-am-i),
+[Music Brick](/tutorials/music-brick),

docs/tutorials/coast-or-brake.md

@@ -0,0 +1,16 @@
+# Coast or Brake
+
+This code example will set the brake when button **A** is pressed or let the motor coast (turn freely when not running) when button **B** is pressed. The motor is turned by one rotation to cause motion.
+
+```blocks
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    // tell motor to brake once the run command is done
+    motors.largeB.setBrake(true)
+    motors.largeB.run(100, 1, MoveUnit.Rotations)
+})
+brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
+    // tell motor to coast once the run command is done
+    motors.largeB.setBrake(false)
+    motors.largeB.run(100, 1, MoveUnit.Rotations)
+})
+```

docs/tutorials/color-sensor.md

@@ -0,0 +1,43 @@
+# Color Sensor
+
+## Tutorials
+
+```codecard
+[{
+  "name": "What Color?",
+  "description": "Use the Color Sensor to detect different colors.",
+  "cardType": "tutorial",
+  "url":"/tutorials/what-color",
+  "imageUrl":"/static/tutorials/what-color.png"
+}, {
+  "name": "Line Following",
+  "description": "Use the Color Sensor to make a robot follow a line.",
+  "cardType": "tutorial",
+  "url":"/tutorials/line-following",
+  "imageUrl":"/static/tutorials/line-following.png"
+}, {
+  "name": "Red Light, Green Light",
+  "description": "Play Red Light, Green Light using the Color Sensor and the robot.",
+  "cardType": "tutorial",
+  "url":"/tutorials/redlight-greenlight",
+  "imageUrl":"/static/tutorials/redlight-greenlight.png"
+}, {
+  "name": "Reflected Light Measure",
+  "description": "Teach the sensor what light or dark is.",
+  "cardType": "example",
+  "url":"/tutorials/reflected-light-measure",
+  "imageUrl":"/static/tutorials/reflected-light-measure.png"
+}, {
+  "name": "Reflected Light Calibration",
+  "description": "Use the auto-calibration feature to setup the dark and bright values.",
+  "cardType": "example",
+  "url":"/tutorials/reflected-light-calibration",
+  "imageUrl":"/static/tutorials/reflected-light-calibration.png"
+}]
+```
+
+## See Also
+
+[What Color?](/tutorials/what-color),
+[Line Following](/tutorials/line-following),
+[Red Light, Green Light](/tutorials/redlight-greenlight),

docs/tutorials/infrared-sensor.md

@@ -0,0 +1,24 @@
+# Infrared sensor
+
+## Tutorials
+
+```codecard
+[{
+  "name": "Object Near",
+  "description": "Detect if objects are near.",
+  "cardType": "tutorial",
+  "url":"/tutorials/object-near",
+  "imageUrl":"/static/tutorials/object-near.png"
+}, {
+  "name": "Security Alert",
+  "description": "Build an security alert using the Infrared Sensor.",
+  "cardType": "tutorial",
+  "url":"/tutorials/security-alert",
+  "imageUrl":"/static/tutorials/security-alert.png"
+}]
+```
+
+## See Also
+
+[Object Near?](/tutorials/object-near),
+[Security Alert](/tutorials/security-alert)

docs/tutorials/motors.md

@@ -0,0 +1,52 @@
+# Motors
+
+## Tutorials
+
+```codecard
+[{
+  "name": "Run Motors",
+  "description": "Use the EV3 Brick buttons to start and stop the Large Motor and Medium Motor.",
+  "cardType": "tutorial",
+  "url":"/tutorials/run-motors",
+  "imageUrl":"/static/tutorials/run-motors.png"
+}, {
+  "name": "Spin Turn",
+  "description": "Turn the driving base around its center.",
+  "cardType": "example",
+  "url":"/tutorials/spin-turn",
+  "imageUrl":"/static/tutorials/spin-turn.png"
+}, {
+  "name": "Pivot Turn",
+  "description": "Turn the driving base around a wheel.",
+  "cardType": "example",
+  "url":"/tutorials/pivot-turn",
+  "imageUrl":"/static/tutorials/pivot-turn.png"
+}, {
+  "name": "Smooth Turn",
+  "description": "Turn the driving base in a smooth, steering motion.",
+  "cardType": "example",
+  "url":"/tutorials/smooth-turn",
+  "imageUrl":"/static/tutorials/smooth-turn.png"
+}, {
+  "name": "Tank ZigZag",
+  "description": "Use the tank block to keep motors in sync.",
+  "cardType": "example",
+  "url":"/tutorials/tank-zigzag",
+  "imageUrl":"/static/tutorials/tank-zigzag.png"
+}, {
+  "name": "Coast Or Brake",
+  "description": "Tell motors to coast or brake once the run command is done.",
+  "cardType": "example",
+  "url":"/tutorials/coast-or-brake",
+  "imageUrl":"/static/tutorials/coast-or-brake.png"
+}]
+```
+
+## See Also
+
+[Run Motors](/tutorials/run-motors),
+[Spin Turn](/tutorials/spin-turn),
+[Pivot Turn](/tutorials/pivot-turn),
+[Smooth Turn](/tutorials/smooth-turn),
+[Tank ZigZag](/tutorials/tank-zigzag),
+[Coast Or Brake](/tutorials/coast-or-brake)

docs/tutorials/music-brick.md

@@ -17,10 +17,10 @@ brick.showString("Hello world", 1)
 
 ## Step 2
 
-In the ``||brick:show string||`` block, type the text ``"Press my buttons to make music!"`` to replace ``"Hello world"``.
+In the ``||brick:show string||`` block, type the text ``"Press my buttons!"`` to replace ``"Hello world"``.
 
 ```blocks
-brick.showString("Press my buttons to make music!", 1)
+brick.showString("Press my buttons!", 1)
 ```
 
 ## Step 3
@@ -31,7 +31,7 @@ Open the ``||brick:Brick||`` Toolbox drawer. From the **Buttons** section, drag
 brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
 
 })
-brick.showString("Press my buttons to make music!", 1)
+brick.showString("Press my buttons!", 1)
 ```
 
 ## Step 4
@@ -40,13 +40,13 @@ Open the ``||music:Music||`` Toolbox drawer. Drag out **5** ``||music:play tone|
 
 ```blocks
 brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
-    music.playTone(0, music.beat(BeatFraction.Half))
-    music.playTone(0, music.beat(BeatFraction.Half))
-    music.playTone(0, music.beat(BeatFraction.Half))
-    music.playTone(0, music.beat(BeatFraction.Half))
-    music.playTone(0, music.beat(BeatFraction.Half))
+    music.playTone(262, music.beat(BeatFraction.Half))
+    music.playTone(262, music.beat(BeatFraction.Half))
+    music.playTone(262, music.beat(BeatFraction.Half))
+    music.playTone(262, music.beat(BeatFraction.Half))
+    music.playTone(262, music.beat(BeatFraction.Half))
 })
-brick.showString("Press my buttons to make music!", 1) 
+brick.showString("Press my buttons!", 1)
 ```
 
 ## Step 5
@@ -63,7 +63,7 @@ brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
     music.playTone(196, music.beat(BeatFraction.Half))
     music.playTone(294, music.beat(BeatFraction.Whole))
 })
-brick.showString("Press my buttons to make music!", 1)
+brick.showString("Press my buttons!", 1)
 ```
 
 ## Step 6

docs/tutorials/pause-until-pressed.md

@@ -0,0 +1,9 @@
+# Pause Until Pressed
+
+This is a code example to detect contact or collision with another object. It uses a touch sensor to detect hitting a wall or other obstacle. The motors are run and then stopped when the sensor is pressed.
+
+```blocks
+motors.largeBC.tank(50, 50)
+sensors.touch1.pauseUntil(ButtonEvent.Pressed)
+motors.largeBC.stop()
+```

docs/tutorials/pivot-turn.md

@@ -0,0 +1,12 @@
+# Pivot Turn
+
+A **pivot turn** happens when a [EV3 Driving Base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf) turns around the wheel on the inside of the turn by spinning just the single wheel at the outside of the turn.
+
+You can make a turn happen with either a ``||motors:tank||`` or a ``||motors:steer||`` block.
+
+```blocks
+forever(function() {
+    motors.largeBC.tank(50, 0, 2, MoveUnit.Rotations)
+    motors.largeBC.tank(0, 50, 2, MoveUnit.Rotations)
+})
+```

docs/tutorials/reflected-light-calibration.md

@@ -0,0 +1,24 @@
+# Reflected light calibration
+
+The ``||sensors:calibrateLight||`` blocks allows you to calibrate the reflected light of the color sensor in one block. At the time you run the block, move the sensor over a dark surface and a bright surface; then stop moving it.
+
+```blocks
+sensors.color3.onLightDetected(LightIntensityMode.Reflected, Light.Dark, function () {
+    brick.showString("dark", 2)
+})
+sensors.color3.onLightDetected(LightIntensityMode.Reflected, Light.Bright, function () {
+    brick.showString("bright", 2)
+})
+console.sendToScreen()
+console.log("move color sensor")
+console.log("over DARK and BRIGHT color")
+console.log("and stop moving when done")
+console.log("press ENTER when ready")
+brick.buttonEnter.pauseUntil(ButtonEvent.Pressed)
+sensors.color3.calibrateLight(LightIntensityMode.Reflected)
+brick.showValue("dark", sensors.color3.threshold(Light.Dark), 4)
+brick.showValue("bright", sensors.color3.threshold(Light.Bright), 5)
+forever(function () {
+    brick.showValue("reflected light", sensors.color3.light(LightIntensityMode.Reflected), 1)
+})
+```

docs/tutorials/reflected-light-measure.md

@@ -0,0 +1,29 @@
+# Reflected light measure
+
+This example uses a color sensor to measure the reflected light from a dark and light surface
+and sets the light/dark thresholds.
+
+```blocks
+sensors.color3.onLightDetected(LightIntensityMode.Reflected, Light.Dark, function () {
+    brick.showString("dark", 2)
+})
+sensors.color3.onLightDetected(LightIntensityMode.Reflected, Light.Bright, function () {
+    brick.showString("bright", 2)
+})
+console.sendToScreen()
+console.log("move color sensor")
+console.log("over DARK color")
+console.log("press ENTER when ready")
+brick.buttonEnter.pauseUntil(ButtonEvent.Pressed)
+sensors.color3.setThreshold(Light.Dark, sensors.color3.light(LightIntensityMode.Reflected) + 5)
+console.logValue("dark", sensors.color3.threshold(Light.Dark))
+console.log("move color sensor")
+console.log("over BRIGHT color")
+console.log("press ENTER when ready")
+brick.buttonEnter.pauseUntil(ButtonEvent.Pressed)
+sensors.color3.setThreshold(Light.Bright, sensors.color3.light(LightIntensityMode.Reflected) - 5)
+console.logValue("bright", sensors.color3.threshold(Light.Bright))
+forever(function () {
+    brick.showValue("reflected light", sensors.color3.light(LightIntensityMode.Reflected), 1)
+})
+```

docs/tutorials/run-motors.md

@@ -66,7 +66,7 @@ brick.buttonDown.onEvent(ButtonEvent.Pressed, function () {
 
 ## Step 5
 
-Now, let’s add a Medium motor, and tell it how many rotations we want it to run for. Open the ``||brick:Brick||`` Toolbox drawer. Drag out **2** ``|brick:on button||`` blocks. In the ``||brick:on button||`` blocks, use the drop-down menu to select the ``left`` and ``right`` buttons.
+Open the ``||brick:Brick||`` Toolbox drawer and drag out **2** ``|brick:on button||`` blocks. In the ``||brick:on button||`` blocks, use the drop-down menu to select the ``left`` and ``right`` buttons.
 
 ```blocks
 brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {
@@ -106,9 +106,9 @@ brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
 
 For the ``||motors:run||`` blocks that are in the ``||brick:on button left||`` and ``||brick:on button right||`` blocks, use the drop-down menu to select a ``medium motor`` on Port ``D``. 
 
-| | | |
-|-|-|-|
-| ![Select a motor type dropdown](/static/tutorials/run-motors/run-motor-dropdown.png) | | | ![Select a motor port dropdown](/static/tutorials/run-motors/motor-port-dropdown.png) |
+![Select a motor type dropdown](/static/tutorials/run-motors/run-motor-dropdown.png)
+<br/>
+![Select a motor port dropdown](/static/tutorials/run-motors/motor-port-dropdown.png)
 
 ```blocks
 brick.buttonUp.onEvent(ButtonEvent.Pressed, function () {

docs/tutorials/smooth-turn.md

@@ -0,0 +1,12 @@
+# Smooth Turn
+
+A **smooth turn** happens when a [EV3 Driving Base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf) makes a turn by spinning both both wheels but with each running at a different speed.
+
+You can make a turn happen with either a ``||motors:tank||`` or a ``||motors:steer||`` block.
+
+```blocks
+forever(function() {
+    motors.largeBC.tank(50, 20, 2, MoveUnit.Rotations)
+    motors.largeBC.tank(20, 50, 2, MoveUnit.Rotations)
+})
+```

docs/tutorials/spin-turn.md

@@ -0,0 +1,12 @@
+# Spin Turn
+
+A **spin turn** happens when a [EV3 Driving Base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf) turns, or rotates, on a single spot by spinning both wheels, but with each turning in opposite directions.
+
+You can make a turn happen with either a ``||motors:tank||`` or a ``||motors:steer||`` block.
+
+```blocks
+forever(function() {
+    motors.largeBC.tank(50, -50, 2, MoveUnit.Rotations)
+    motors.largeBC.tank(-50, 50, 2, MoveUnit.Rotations)
+})
+```

docs/tutorials/tank-zigzag.md

@@ -0,0 +1,17 @@
+# Tank ZigZag
+
+This example shows how to use the [tank](/reference/motors/tank) block to keep the speed of 2 large motors synchronized. The [EV3 Driving Base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
+) will move in a zig zag pattern.
+
+```blocks
+/**
+ * Use the tank block to keep large motors synched. 
+ Use this code with a EV3 driving base.
+ */
+forever(function () {
+    brick.showImage(images.eyesMiddleRight)
+    motors.largeBC.tank(50, 10, 2, MoveUnit.Rotations)
+    brick.showImage(images.eyesMiddleLeft)
+    motors.largeBC.tank(10, 50, 2, MoveUnit.Rotations)
+})
+```

docs/tutorials/touch-sensor.md

@@ -0,0 +1,31 @@
+# Touch Sensor
+
+## Tutorials
+
+```codecard
+[{
+  "name": "Touch to Run",
+  "description": "Press the Touch Sensor and run a motor.",
+  "cardType": "tutorial",
+  "url":"/tutorials/touch-to-run",
+  "imageUrl":"/static/tutorials/touch-to-run.png"
+}, {
+  "name": "Sensor Values",
+  "description": "Check the value of a Touch Sensor and stop a motor if pressed.",
+  "cardType": "tutorial",
+  "url":"/tutorials/touch-sensor-values",
+  "imageUrl":"/static/tutorials/touch-sensor-values.png"
+}, {
+  "name": "Pause Until Pressed",
+  "description": "Waits for the sensor to be pressed before continuing the program",
+  "cardType": "tutorial",
+  "url":"/tutorials/pause-until-pressed",
+  "imageUrl":"/static/tutorials/pause-until-pressed.png"
+}]
+```
+
+## See Also
+
+[Touch to Run](/tutorials/touch-to-run),
+[Touch Sensor Values](/tutorials/touch-sensor-values),
+[Pause Until Pressed](/tutorials/pause-until-pressed)

docs/tutorials/what-animal-am-i.md

@@ -16,7 +16,7 @@ brick.showString("Hello world", 1)
 
 ## Step 2
 
-In the ``||brick:show string||`` block, type the text ``"Guess teh animal"`` to replace ``"Hello world"``.
+In the ``||brick:show string||`` block, type the text ``"Guess the animal"`` to replace ``"Hello world"``.
 
 ```blocks
 brick.showString("Guess the animal", 1)

docs/videos.md

@@ -0,0 +1,33 @@
+# Videos
+
+## Tutorials
+
+```codecard
+[
+    {
+        "name": "",
+        "url": "https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5d009e5f93fbf479c2e5ed2bf87a7990&source=embed&photo%5fid=35719444",
+        "imageUrl": "https://legoeducation.videomarketingplatform.co/27288170/35719444/5d009e5f93fbf479c2e5ed2bf87a7990/thumbnail.png"
+    },
+    {
+        "name": "",
+        "url": "https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=2008a566f1fb034d58d5ebe19ba8621f&source=embed&photo%5fid=35719467",
+        "imageUrl": "https://legoeducation.videomarketingplatform.co/27288175/35719467/2008a566f1fb034d58d5ebe19ba8621f/thumbnail.png"
+    },
+    {
+        "name": "",
+        "url": "https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=629730c938e452f0fd7653fbc4708166&source=embed&photo%5fid=35719470",
+        "imageUrl": "https://legoeducation.videomarketingplatform.co/27288172/35719470/629730c938e452f0fd7653fbc4708166/thumbnail.png"
+    },
+    {
+        "name": "",
+        "url": "https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=3513a83b87fe536b2dc512237465fd1b&source=embed&photo%5fid=35719471",
+        "imageUrl": "https://legoeducation.videomarketingplatform.co/27288172/35719471/3513a83b87fe536b2dc512237465fd1b/thumbnail.png"
+    },
+    {
+        "name": "",
+        "url": "https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5c594c2373367f7870196f519f3bfc7a&source=embed&photo%5fid=35719472",
+        "imageUrl": "https://legoeducation.videomarketingplatform.co/27288175/35719472/5c594c2373367f7870196f519f3bfc7a/thumbnail.png"
+    }
+]
+```

editor/deploy.ts

@@ -60,10 +60,12 @@ const rbfTemplate = `
 4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
 74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
 `
-export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
+export function deployCoreAsync(resp: pxtc.CompileResult) {
     let w: pxt.editor.Ev3Wrapper
 
-    let filename = resp.downloadFileBaseName || "pxt"
+    const origElfUF2 = UF2.parseFile(pxt.U.stringToUint8Array(ts.pxtc.decodeBase64(resp.outfiles[pxt.outputName()])))
+    
+    let filename = resp.downloadFileBaseName || (origElfUF2[0].filename || "").replace(/^Projects\//, "").replace(/\.elf$/, "") || "pxt"
     filename = filename.replace(/^lego-/, "")
 
     let fspath = "../prjs/BrkProg_SAVE/"
@@ -77,8 +79,6 @@ export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
     let rbfBIN = pxt.U.fromHex(rbfHex)
     pxt.HF2.write16(rbfBIN, 4, rbfBIN.length)
 
-    let origElfUF2 = UF2.parseFile(pxt.U.stringToUint8Array(ts.pxtc.decodeBase64(resp.outfiles[pxt.outputName()])))
-
     let mkFile = (ext: string, data: Uint8Array = null) => {
         let f = UF2.newBlockFile()
         f.filename = "Projects/" + filename + ext
@@ -98,11 +98,13 @@ export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
     resp.outfiles[pxtc.BINARY_UF2] = btoa(data)
 
     let saveUF2Async = () => {
-        if (isCli || !pxt.commands.saveOnlyAsync) {
-            return Promise.resolve()
-        } else {
-            return pxt.commands.saveOnlyAsync(resp)
+        if (pxt.commands && pxt.commands.electronDeployAsync) {
+            return pxt.commands.electronDeployAsync(resp);
         }
+        if (pxt.commands && pxt.commands.saveOnlyAsync) {
+            return pxt.commands.saveOnlyAsync(resp);
+        }
+        return Promise.resolve();
     }
 
     if (noHID) return saveUF2Async()
@@ -119,10 +121,7 @@ export function deployCoreAsync(resp: pxtc.CompileResult, isCli = false) {
         .then(() => w.flashAsync(rbfPath, rbfBIN))
         .then(() => w.runAsync(rbfPath))
         .then(() => {
-            if (isCli)
-                return w.disconnectAsync()
-            else
-                return Promise.resolve()
+            return w.disconnectAsync()
             //return Promise.delay(1000).then(() => w.dmesgAsync())
         }).catch(e => {
             // if we failed to initalize, retry

editor/extension.ts

@@ -28,9 +28,9 @@ pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): P
             <div class="ui grid stackable">
                 <div class="column five wide" style="background-color: #E2E2E2;">
                     <div class="ui header">${lf("First time here?")}</div>
-                    <strong style="font-size:small">${lf("You must have version 1.10 or above of the firmware")}</strong>
+                    <strong style="font-size:small">${lf("You must have version 1.10E or above of the firmware")}</strong>
                     <div style="justify-content: center;display: flex;padding: 1rem;">
-                        <img class="ui image" src="./static/download/firmware.png" style="height:100px;" />
+                        <img class="ui image" src="/static/download/firmware.png" style="height:100px;" />
                     </div>
                     <a href="/troubleshoot" target="_blank">${lf("Check your firmware version here and update if needed")}</a>
                 </div>
@@ -42,7 +42,7 @@ pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): P
                                     <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;" />
+                                                <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">
@@ -57,7 +57,7 @@ pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): P
                                     <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;" />
+                                                <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">

ev3.code-workspace

@@ -0,0 +1,13 @@
+{
+	"folders": [
+		{
+			"path": "."
+		},
+		{
+			"path": "../pxt-common-packages"
+		},
+		{
+			"path": "../pxt"
+		}
+	]
+}

fieldeditors/field_motors.ts

@@ -133,14 +133,27 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         this.setText(text);
     }
 
-    getFirstValue(text: string) {
-        // Get first set of words up until last space
-        return this.normalizeText_(text.substring(0, text.lastIndexOf(' ')));
+    getFirstValue(value: string) {
+        const typeValue = value.indexOf('large') != -1 ? 'large' : 'medium';
+        const portValue = this.getSecondValue(value);
+        const isDual = portValue.length > 1;
+        return `${typeValue} motor${isDual ? 's' : ''}`;
     }
 
-    getSecondValue(text: string) {
-        // Get last word
-        return this.normalizeText_(text.match(/\S*$/)[0]);
+    getSecondValue(value: string) {
+        return (value.indexOf('large') != -1) ?
+            value.substring(value.indexOf('large') + 5) :
+            value.substring(value.indexOf('medium') + 6);
+    }
+
+    getFirstValueI11n(value: string) {
+        const firstValue = this.getFirstValue(value);
+        const motorOptions = {
+            'medium motor': lf('medium motor'),
+            'large motor': lf('large motor'),
+            'large motors': lf('large motors')
+        }
+        return motorOptions[firstValue];
     }
 
     private normalizeText_(text: string) {
@@ -198,8 +211,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         if (text === null) {
             return text;
         }
-        if (text.indexOf(' ') == -1) {
-            text = `large motors ${text}`;
+        if (text.indexOf('|') == -1) {
+            text = this.sourceBlock_.RTL ? `${text}|${lf("large motors")}` : `${lf("large motors")}|${text}`;
         }
         return text;
     }
@@ -296,16 +309,14 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             goog.dom.removeChildren(/** @type {!Element} */(this.textElement_));
             goog.dom.removeChildren(/** @type {!Element} */(this.textElement2_));
 
-            var text = this.text_;
-            text = this.patchDualMotorText(text);
-
             // First dropdown
-            const textNode1 = document.createTextNode(this.getFirstValue(text));
+            // Use one of the following options, medium motor, large motor or large motors (translated)
+            const textNode1 = document.createTextNode(this.getFirstValueI11n(this.value_));
             this.textElement_.appendChild(textNode1);
 
-            // Second dropdown
+            // Second dropdown, no need to translate. Only port numbers
             if (this.textElement2_) {
-                const textNode2 = document.createTextNode(this.getSecondValue(text));
+                const textNode2 = document.createTextNode(this.getSecondValue(this.value_));
                 this.textElement2_.appendChild(textNode2);
             }
             this.updateWidth();
@@ -402,29 +413,28 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         contentDiv.setAttribute('aria-haspopup', 'true');
         let options = this.getOptions();
 
-        // Hashmap of options
         let opts = {};
         let conts = {};
         let vals = {};
+        // Go through all option values and split them into groups
         for (let opt = 0; opt < options.length; opt++) {
-            let text = options[opt][0].alt ? options[opt][0].alt : options[opt][0];
-            if (text.indexOf(' ') == -1) {
-                // Patch dual motors as they don't have prefixes.
-                text = this.patchDualMotorText(text);
-                if (options[opt][0].alt) options[opt][0].alt = text;
-            }
             const value = options[opt][1];
-            const firstValue = this.getFirstValue(text);
-            const secondValue = this.getSecondValue(text);
-            if (!opts[firstValue]) opts[firstValue] = [secondValue];
-            else opts[firstValue].push(secondValue);
-            // Store a hash of the original key value pairs for later
+            const motorValue = value.substring(value.indexOf('.') + 1);
+            const typeValue = motorValue.indexOf('large') == 0 ? 'large' : 'medium';
+            const portValue = motorValue.indexOf('large') == 0 ? motorValue.substring(5) : motorValue.substring(6);
+            const isDual = portValue.length > 1;
+
+            const text = `${typeValue} motor${isDual ? 's' : ''}|${portValue}`;
+            const key = `${typeValue} motor${isDual ? 's' : ''}`;
+            if (!opts[key]) opts[key] = [];
+            opts[key].push(portValue);
+
             conts[text] = options[opt][0];
             vals[text] = value;
         }
 
-        const currentFirst = this.getFirstValue(this.text_);
-        const currentSecond = this.getSecondValue(this.text_);
+        const currentFirst = this.getFirstValue(this.value_);
+        const currentSecond = this.getSecondValue(this.value_);
 
         if (!this.isFirst_) {
             options = opts[currentFirst];
@@ -432,9 +442,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             options = Object.keys(opts);
             // Flip the first and second options to make it sorted the way we want it (medium, large, dual)
             if (options.length == 3) {
-                const temp = options[1];
-                options[1] = options[0];
-                options[0] = temp;
+                options = [lf("medium motor"), lf("large motor"), lf("large motors")];
             } else {
                 options.reverse();
             }
@@ -448,7 +456,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
         const columns = options.length;
 
         for (let i = 0, option: any; option = options[i]; i++) {
-            let text = this.isFirst_ ? option + ' ' + opts[option][0] : currentFirst + ' ' + option;
+            let text = this.isFirst_ ? option + '|' + (option.indexOf('motors') != -1 ? 'BC' : 'A') : currentFirst + '|' + option;
             text = text.replace(/\xA0/g, ' ');
             const content: any = conts[text];
             const value = vals[text];
@@ -466,7 +474,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
             button.setAttribute('id', ':' + i); // For aria-activedescendant
             button.setAttribute('role', 'menuitem');
             button.setAttribute('class', 'blocklyDropDownButton');
-            button.title = this.isFirst_ ? this.getFirstValue(content.alt) : content.alt;
+            button.title = this.isFirst_ ? this.getFirstValueI11n(value) : this.getSecondValue(value);
             button.style.width = ((this.itemWidth_) - 8) + 'px';
             button.style.height = ((this.itemWidth_) - 8) + 'px';
             let backgroundColor = this.backgroundColour_;
@@ -495,7 +503,15 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
                 contentDiv.removeAttribute('aria-activedescendant');
             });
             let buttonImg = document.createElement('img');
-            buttonImg.src = this.isFirst_ ? isFirstUrl[option.replace(/\xA0/g, ' ')] : content.src;
+            let imgSrc = content.src;
+            if (this.isFirst_) {
+                const motorValue = value.substring(value.indexOf('.') + 1);
+                // Find out what kind of motor this is based on it's value, possible values: mediumX, largeX, and largeXY
+                if (motorValue.indexOf('medium') == 0) imgSrc = isFirstUrl['medium motor'];
+                else if (motorValue.length == 6) imgSrc = isFirstUrl['large motor'];
+                else imgSrc = isFirstUrl['large motors'];
+            }
+            buttonImg.src = imgSrc;
             //buttonImg.alt = icon.alt;
             // Upon click/touch, we will be able to get the clicked element as e.target
             // Store a data attribute on all possible click targets so we can match it to the icon.

fieldeditors/field_music.ts

@@ -20,7 +20,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
     private categoriesCache_: string[];
 
     constructor(text: string, options: FieldMusicOptions, validator?: Function) {
-        super(text, { sort: true, data: options.data }, validator);
+        super(text, { blocksInfo: options.blocksInfo, sort: true, data: options.data }, validator);
 
         this.columns_ = parseInt(options.columns) || 4;
         this.width_ = parseInt(options.width) || 380;

fieldeditors/field_ports.ts

@@ -11,7 +11,7 @@ export class FieldPorts extends pxtblockly.FieldImages implements Blockly.FieldC
     public isFieldCustom_ = true;
 
     constructor(text: string, options: FieldPortsOptions, validator?: Function) {
-        super(text, { sort: true, data: options.data }, validator);
+        super(text, { blocksInfo: options.blocksInfo, sort: true, data: options.data }, validator);
 
         this.columns_ = parseInt(options.columns) || 4;
         this.width_ = parseInt(options.width) || 300;

fieldeditors/wrap.ts

@@ -1,285 +0,0 @@
-namespace pxt.editor {
-    import HF2 = pxt.HF2
-    import U = pxt.U
-
-    function log(msg: string) {
-        pxt.log("EWRAP: " + msg)
-    }
-
-    export interface DirEntry {
-        name: string;
-        md5?: string;
-        size?: number;
-    }
-
-    const runTemplate = "C00882010084XX0060640301606400"
-    const usbMagic = 0x3d3f
-
-    export class Ev3Wrapper {
-        msgs = new U.PromiseBuffer<Uint8Array>()
-        private cmdSeq = U.randomUint32() & 0xffff;
-        private lock = new U.PromiseQueue();
-        isStreaming = false;
-        dataDump = false;
-
-        constructor(public io: pxt.HF2.PacketIO) {
-            io.onData = buf => {
-                buf = buf.slice(0, HF2.read16(buf, 0) + 2)
-                if (HF2.read16(buf, 4) == usbMagic) {
-                    let code = HF2.read16(buf, 6)
-                    let payload = buf.slice(8)
-                    if (code == 1) {
-                        let str = U.uint8ArrayToString(payload)
-                        if (Util.isNodeJS)
-                            console.log("SERIAL: " + str.replace(/\n+$/, ""))
-                        else
-                            window.postMessage({
-                                type: 'serial',
-                                id: 'n/a', // TODO?
-                                data: str
-                            }, "*")
-                    } else
-                        console.log("Magic: " + code + ": " + U.toHex(payload))
-                    return
-                }
-                if (this.dataDump)
-                    log("RECV: " + U.toHex(buf))
-                this.msgs.push(buf)
-            }
-        }
-
-        private allocCore(addSize: number, replyType: number) {
-            let len = 5 + addSize
-            let buf = new Uint8Array(len)
-            HF2.write16(buf, 0, len - 2)  // pktLen
-            HF2.write16(buf, 2, this.cmdSeq++) // msgCount
-            buf[4] = replyType
-            return buf
-        }
-
-        private allocSystem(addSize: number, cmd: number, replyType = 1) {
-            let buf = this.allocCore(addSize + 1, replyType)
-            buf[5] = cmd
-            return buf
-        }
-
-        private allocCustom(code: number, addSize = 0) {
-            let buf = this.allocCore(1 + 2 + addSize, 0)
-            HF2.write16(buf, 4, usbMagic)
-            HF2.write16(buf, 6, code)
-            return buf
-        }
-
-        stopAsync() {
-            return this.isVmAsync()
-                .then(vm => {
-                    if (vm) return Promise.resolve();
-                    log(`stopping PXT app`)
-                    let buf = this.allocCustom(2)
-                    return this.justSendAsync(buf)
-                        .then(() => Promise.delay(500))
-                })
-        }
-
-        dmesgAsync() {
-            log(`asking for DMESG buffer over serial`)
-            let buf = this.allocCustom(3)
-            return this.justSendAsync(buf)
-        }
-
-        runAsync(path: string) {
-            let codeHex = runTemplate.replace("XX", U.toHex(U.stringToUint8Array(path)))
-            let code = U.fromHex(codeHex)
-            let pkt = this.allocCore(2 + code.length, 0)
-            HF2.write16(pkt, 5, 0x0800)
-            U.memcpy(pkt, 7, code)
-            log(`run ${path}`)
-            return this.justSendAsync(pkt)
-        }
-
-        justSendAsync(buf: Uint8Array) {
-            return this.lock.enqueue("talk", () => {
-                this.msgs.drain()
-                if (this.dataDump)
-                    log("SEND: " + U.toHex(buf))
-                return this.io.sendPacketAsync(buf)
-            })
-        }
-
-        talkAsync(buf: Uint8Array, altResponse = 0) {
-            return this.lock.enqueue("talk", () => {
-                this.msgs.drain()
-                if (this.dataDump)
-                    log("TALK: " + U.toHex(buf))
-                return this.io.sendPacketAsync(buf)
-                    .then(() => this.msgs.shiftAsync(1000))
-                    .then(resp => {
-                        if (resp[2] != buf[2] || resp[3] != buf[3])
-                            U.userError("msg count de-sync")
-                        if (buf[4] == 1) {
-                            if (altResponse != -1 && resp[5] != buf[5])
-                                U.userError("cmd de-sync")
-                            if (altResponse != -1 && resp[6] != 0 && resp[6] != altResponse)
-                                U.userError("cmd error: " + resp[6])
-                        }
-                        return resp
-                    })
-            })
-        }
-
-        flashAsync(path: string, file: Uint8Array) {
-            log(`write ${file.length} bytes to ${path}`)
-
-            let handle = -1
-
-            let loopAsync = (pos: number): Promise<void> => {
-                if (pos >= file.length) return Promise.resolve()
-                let size = file.length - pos
-                if (size > 1000) size = 1000
-                let upl = this.allocSystem(1 + size, 0x93, 0x1)
-                upl[6] = handle
-                U.memcpy(upl, 6 + 1, file, pos, size)
-                return this.talkAsync(upl, 8) // 8=EOF
-                    .then(() => loopAsync(pos + size))
-            }
-
-            let begin = this.allocSystem(4 + path.length + 1, 0x92)
-            HF2.write32(begin, 6, file.length) // fileSize
-            U.memcpy(begin, 10, U.stringToUint8Array(path))
-            return this.lock.enqueue("file", () =>
-                this.talkAsync(begin)
-                    .then(resp => {
-                        handle = resp[7]
-                        return loopAsync(0)
-                    }))
-        }
-
-        lsAsync(path: string): Promise<DirEntry[]> {
-            let lsReq = this.allocSystem(2 + path.length + 1, 0x99)
-            HF2.write16(lsReq, 6, 1024) // maxRead
-            U.memcpy(lsReq, 8, U.stringToUint8Array(path))
-
-            return this.talkAsync(lsReq, 8)
-                .then(resp =>
-                    U.uint8ArrayToString(resp.slice(12)).split(/\n/).map(s => {
-                        if (!s) return null as DirEntry
-                        let m = /^([A-F0-9]+) ([A-F0-9]+) ([^\/]*)$/.exec(s)
-                        if (m)
-                            return {
-                                md5: m[1],
-                                size: parseInt(m[2], 16),
-                                name: m[3]
-                            }
-                        else
-                            return {
-                                name: s.replace(/\/$/, "")
-                            }
-                    }).filter(v => !!v))
-        }
-
-        rmAsync(path: string): Promise<void> {
-            log(`rm ${path}`)
-            let rmReq = this.allocSystem(path.length + 1, 0x9c)
-            U.memcpy(rmReq, 6, U.stringToUint8Array(path))
-
-            return this.talkAsync(rmReq, 5)
-                .then(resp => { })
-        }
-
-        isVmAsync(): Promise<boolean> {
-            let path = "/no/such/dir"
-            let mkdirReq = this.allocSystem(path.length + 1, 0x9b)
-            U.memcpy(mkdirReq, 6, U.stringToUint8Array(path))
-            return this.talkAsync(mkdirReq, -1)
-                .then(resp => {
-                    let isVM = resp[6] == 0x05
-                    log(`${isVM ? "PXT app" : "VM"} running`)
-                    return isVM
-                })
-        }
-
-        private streamFileOnceAsync(path: string, cb: (d: Uint8Array) => void) {
-            let fileSize = 0
-            let filePtr = 0
-            let handle = -1
-            let resp = (buf: Uint8Array): Promise<void> => {
-                if (buf[6] == 2) {
-                    // handle not ready - file is missing
-                    this.isStreaming = false
-                    return Promise.resolve()
-                }
-
-                if (buf[6] != 0 && buf[6] != 8)
-                    U.userError("bad response when streaming file: " + buf[6] + " " + U.toHex(buf))
-
-                this.isStreaming = true
-                fileSize = HF2.read32(buf, 7)
-                if (handle == -1) {
-                    handle = buf[11]
-                    log(`stream on, handle=${handle}`)
-                }
-                let data = buf.slice(12)
-                filePtr += data.length
-                if (data.length > 0)
-                    cb(data)
-
-                if (buf[6] == 8) {
-                    // end of file
-                    this.isStreaming = false
-                    return this.rmAsync(path)
-                }
-
-                let contFileReq = this.allocSystem(1 + 2, 0x97)
-                HF2.write16(contFileReq, 7, 1000) // maxRead
-                contFileReq[6] = handle
-                return Promise.delay(data.length > 0 ? 0 : 500)
-                    .then(() => this.talkAsync(contFileReq, -1))
-                    .then(resp)
-            }
-
-            let getFileReq = this.allocSystem(2 + path.length + 1, 0x96)
-            HF2.write16(getFileReq, 6, 1000) // maxRead
-            U.memcpy(getFileReq, 8, U.stringToUint8Array(path))
-            return this.talkAsync(getFileReq, -1).then(resp)
-        }
-
-        streamFileAsync(path: string, cb: (d: Uint8Array) => void) {
-            let loop = (): Promise<void> =>
-                this.lock.enqueue("file", () =>
-                    this.streamFileOnceAsync(path, cb))
-                    .then(() => Promise.delay(500))
-                    .then(loop)
-            return loop()
-        }
-
-
-        downloadFileAsync(path: string, cb: (d: Uint8Array) => void) {
-            return this.lock.enqueue("file", () =>
-                    this.streamFileOnceAsync(path, cb))
-        }
-        
-
-        private initAsync() {
-            return Promise.resolve()
-        }
-
-        private resetState() {
-
-        }
-
-        reconnectAsync(first = false): Promise<void> {
-            this.resetState()
-            if (first) return this.initAsync()
-            log(`reconnect`);
-            return this.io.reconnectAsync()
-                .then(() => this.initAsync())
-        }
-
-        disconnectAsync() {
-            log(`disconnect`);
-            return this.io.disconnectAsync()
-        }
-    }
-
-
-}

jenkins.groovy

@@ -1,41 +0,0 @@
-import jobs.generation.Utilities;
-import jobs.generation.InternalUtilities;
-
-def project = GithubProject
-def projectName = "pxt-ev3"
-
-[true, false].each { isPR ->
-    def newJobName = projectName
-
-    if (isPR) {
-        newJobName += "_PR"
-    } else {
-        newJobName += "_Push"
-    }
-
-    def newJob = job(newJobName) {
-        steps {
-            shell("chmod +x ./jenkins.sh")
-            shell("./jenkins.sh ${isPR}")
-        }
-
-        if (!isPR) {
-            wrappers {
-                credentialsBinding {
-                    string("PXT_ACCESS_TOKEN", "pxt_access_token")
-                    string("PXT_RELEASE_REPO", "pxt_release_repo_ev3")
-                    string("CROWDIN_KEY", "pxt_crowdin_key")
-                }
-            }
-        }
-    }
-
-    Utilities.setMachineAffinity(newJob, "Ubuntu", "20161020")
-    InternalUtilities.standardJobSetup(newJob, project, isPR, "*/*")
-
-    if (isPR) {
-        Utilities.addGithubPRTrigger(newJob, "Default Testing")
-    } else {
-        Utilities.addGithubPushTrigger(newJob)
-    }
-}

jenkins.sh

@@ -1,56 +0,0 @@
-#!/usr/bin/env bash
-
-# Set up NVM
-export NVM_DIR="/home/dotnet-bot/.nvm"
-[ -s "$NVM_DIR/nvm.sh" ] && . "$NVM_DIR/nvm.sh" 
-
-nvm install 8
-
-# Set up build environment variables
-echo ---------- Setting build environment variables
-echo Git branch: $GIT_BRANCH
-echo isPR: $1
-
-originRegex="^origin/.*"
-branchRegex="^origin/\K.*(?=$)"
-releaseBranchRegex="^(master|v\d+)$"
-
-if [[ "$GIT_BRANCH" =~ $originRegex ]]; then
-    branchName=$(echo ${GIT_BRANCH} | grep -oP $branchRegex)
-    echo Setting TRAVIS_BRANCH to ${branchName}
-    export TRAVIS_BRANCH=${branchName}
-else
-    echo Setting TRAVIS_BRANCH to $GIT_BRANCH
-    export TRAVIS_BRANCH=$GIT_BRANCH
-fi
-
-if [ "$1" == "false" ]; then
-    echo Setting TRAVIS_PULL_REQUEST to false
-    export TRAVIS_PULL_REQUEST=false
-
-    if [[ "$TRAVIS_BRANCH" =~ $releaseBranchRegex ]]; then
-        if [[ -z $PXT_RELEASE_REPO ]]; then
-            echo Cannot find release repo\; skipping tag checks
-        else
-            gitTag=$(git describe --tags --exact-match 2> /dev/null)
-            builtTag=$(git ls-remote --tags $PXT_RELEASE_REPO | grep -o "refs/tags/$gitTag$")
-
-            echo Current tag: $gitTag
-            echo Built tag: $builtTag
-
-            if [[ ! -z $gitTag && -z $builtTag ]]; then
-                echo Built tag not found\; building tag
-                echo Setting TRAVIS_BRANCH to $gitTag
-                export TRAVIS_BRANCH=$gitTag
-                echo Setting TRAVIS_TAG to $gitTag
-                export TRAVIS_TAG=$gitTag
-            else
-                echo Not a tag build
-            fi
-        fi
-    fi
-fi
-
-# Perform build
-npm install
-npm test

libs/base/pxt.json

@@ -1,30 +1,3 @@
 {
-    "name": "base",
-    "description": "The base library",
-    "files": [
-        "README.md",
-        "pxt-core.d.ts",
-        "pxt.cpp",
-        "pxtbase.h",
-        "core.cpp",
-        "pxt-helpers.ts",
-        "buffer.cpp",
-        "shims.d.ts",
-        "enums.d.ts",
-        "loops.cpp",
-        "math.ts",
-        "ns.ts",
-        "control.cpp",
-        "control.ts",
-        "eventcontext.ts",
-        "serial.cpp",
-        "serial.ts",
-        "fieldeditors.ts"
-    ],
-    "testFiles": [
-        "test.ts"
-    ],
-    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/base",
-    "public": true,
-    "dependencies": {}
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/base"
 }

libs/base/shims.d.ts

@@ -142,23 +142,12 @@ declare namespace control {
     //% blockId="control_device_serial_number" block="device serial number" weight=9
     //% help=control/device-serial-number shim=control::deviceSerialNumber
     function deviceSerialNumber(): int32;
-}
-declare namespace serial {
 
     /**
-     * Write some text to the serial port.
+     *
      */
-    //% help=serial/write-string
-    //% weight=87 blockHidden=true
-    //% blockId=serial_writestring block="serial|write string %text" shim=serial::writeString
-    function writeString(text: string): void;
-
-    /**
-     * Send a buffer across the serial connection.
-     */
-    //% help=serial/write-buffer weight=6 blockHidden=true
-    //% blockId=serial_writebuffer block="serial|write buffer %buffer" shim=serial::writeBuffer
-    function writeBuffer(buffer: Buffer): void;
+    //% shim=control::__log
+    function __log(text: string): void;
 }
 
 // Auto-generated. Do not edit. Really.

libs/color-sensor/color.ts

@@ -1,5 +1,5 @@
 const enum ColorSensorMode {
-    None = -1,
+    None = 0,
     //% block="reflected light intensity"
     ReflectedLightIntensity = 0,
     //% block="ambient light intensity"
@@ -15,7 +15,9 @@ enum LightIntensityMode {
     //% block="reflected light"
     Reflected = ColorSensorMode.ReflectedLightIntensity,
     //% block="ambient light"
-    Ambient = ColorSensorMode.AmbientLightIntensity
+    Ambient = ColorSensorMode.AmbientLightIntensity,
+    //% block="reflected light (raw)"
+    ReflectedRaw = ColorSensorMode.RefRaw
 }
 
 const enum ColorSensorColor {
@@ -93,6 +95,8 @@ namespace sensors {
                 || this.mode == ColorSensorMode.AmbientLightIntensity
                 || this.mode == ColorSensorMode.ReflectedLightIntensity)
                 return this.getNumber(NumberFormat.UInt8LE, 0)
+            if (this.mode == ColorSensorMode.RefRaw || this.mode == ColorSensorMode.RgbRaw)
+                return this.getNumber(NumberFormat.UInt16LE, 0)
             return 0
         }
 
@@ -114,7 +118,7 @@ namespace sensors {
 
         _update(prev: number, curr: number) {
             if (this.calibrating) return; // simply ignore data updates while calibrating
-            if (this.mode == ColorSensorMode.Color)
+            if (this.mode == ColorSensorMode.Color || this.mode == ColorSensorMode.RgbRaw || this.mode == ColorSensorMode.RefRaw)
                 control.raiseEvent(this._id, this._colorEventValue(curr));
             else
                 this.thresholdDetector.setLevel(curr);
@@ -179,6 +183,23 @@ namespace sensors {
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
 
+        /**
+         * Get the current raw rgb values as an array from the color sensor.
+         * @param sensor the color sensor to query the request
+         */
+        //% help=sensors/color-sensor/rgbraw
+        //% blockId=colorRgbRaw block="**color sensor** %this| RGB raw"
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% weight=1
+        //% group="Color Sensor"
+        //% blockGap=8
+        rgbRaw(): number[] {
+            this.setMode(ColorSensorMode.RgbRaw);
+            return [this.getNumber(NumberFormat.UInt16LE, 0), this.getNumber(NumberFormat.UInt16LE, 2), this.getNumber(NumberFormat.UInt16LE, 4)];
+        }
+
         /**
          * Registers code to run when the ambient light changes.
          * @param condition the light condition
@@ -225,11 +246,16 @@ namespace sensors {
         //% parts="colorsensor"
         //% blockNamespace=sensors
         //% this.fieldEditor="ports"
-        //% weight=87
+        //% weight=87 blockGap=8
         //% group="Color Sensor"
         light(mode: LightIntensityMode) {
             this.setMode(<ColorSensorMode><number>mode)
-            return this.getNumber(NumberFormat.UInt8LE, 0)
+            switch(mode) {
+                case LightIntensityMode.ReflectedRaw:
+                    return this.reflectedLightRaw();
+                default:
+                    return this.getNumber(NumberFormat.UInt8LE, 0)
+            }
         }
 
         /**
@@ -248,6 +274,15 @@ namespace sensors {
             return this.light(LightIntensityMode.Reflected);
         }
 
+        /**
+         * Gets the raw reflection light value
+         */
+        //%
+        reflectedLightRaw(): number {
+            this.setMode(ColorSensorMode.RefRaw);
+            return this.getNumber(NumberFormat.UInt16LE, 0);
+        }
+
         /**
          * Set a threshold value
          * @param condition the dark or bright light condition
@@ -297,9 +332,22 @@ namespace sensors {
         calibrateLight(mode: LightIntensityMode, deviation: number = 8) {
             this.calibrating = true; // prevent events
 
-            this.light(mode); // trigger a read
-            pauseUntil(() => this.isActive()); // ensure sensor is live
+            const statusLight = brick.statusLight(); // save current status light
+            brick.setStatusLight(StatusLight.Orange);
 
+            this.light(mode); // trigger a read
+            pauseUntil(() => this.isActive(), 5000); // ensure sensor is live
+
+            // check sensor is ready
+            if (!this.isActive()) {
+                brick.setStatusLight(StatusLight.RedFlash); // didn't work
+                pause(2000);
+                brick.setStatusLight(statusLight); // restore previous light
+                return;
+            }
+
+            // calibrating
+            brick.setStatusLight(StatusLight.OrangePulse);
 
             let vold = 0;
             let vcount = 0;
@@ -331,6 +379,10 @@ namespace sensors {
             this.thresholdDetector.setLowThreshold(min);
             this.thresholdDetector.setHighThreshold(max);
 
+            brick.setStatusLight(StatusLight.Green); // success
+            pause(1000);
+            brick.setStatusLight(statusLight); // resture previous light
+
             this.calibrating = false;
         }
 

libs/color-sensor/docs/reference/sensors/color-sensor/calibrate-light.md

@@ -13,6 +13,15 @@ Sometimes when external lighting conditions change, the light sensor measures li
 * **mode**: the type of light threshold to calibrate. This is either ``ambient`` or ``reflected`` light.
 * **deviation**: a [number](/types/number) that is the amount of light level change to adjust in a measurement.
 
+## Calibration states
+
+Calibration happens in the following phases and each phase is tracked by the brick status light.
+
+* **orange**: sensor initialization. This phase ensures that the sensor is in the desired mode and ready to collect data.
+* **orange pulse**: data collection. Light information is being collected, move the sensor over the various light sources to detect.
+* **green**: calibration success. The calibration data has been saved.
+* **red flash**: sensor failure. We were unable to connect to the sensor.
+
 ## Example
 
 Calibrate the ``dark`` and ``light`` thresholds for the ``color 2`` sensor using reflected light.
@@ -23,4 +32,4 @@ sensors.color2.calibrateLight(LightIntensityMode.Reflected)
 
 ## See also
 
-[set threshold](/reference/sensors/color-sensor/set-threshold)
+[set threshold](/reference/sensors/color-sensor/set-threshold)

libs/core/buttons.ts

@@ -159,12 +159,6 @@ namespace brick {
             if (sl[i])
                 ret |= 1 << i
         }
-        // this needs to be done in query(), which is run without the main JS execution mutex
-        // otherwise, while(true){} will lock the device
-        if (ret & DAL.BUTTON_ID_ESCAPE) {
-            motors.stopAll(); // ensuring that all motors are off
-            control.reset()
-        }
         return ret
     }
 
@@ -247,6 +241,15 @@ namespace brick {
     // the brick starts with the red color
     let currPattern: StatusLight = StatusLight.Off;
 
+    /**
+     * Gets the current light pattern.
+     */
+    //% weight=99 group="Buttons"
+    //% help=brick/status-light
+    export function statusLight() {
+        return currPattern;
+    }
+
     /**
      * Set lights.
      * @param pattern the lights pattern to use. eg: StatusLight.Orange

libs/core/console.ts

@@ -1,48 +0,0 @@
-/// <reference no-default-lib="true"/>
-
-/**
- * Reading and writing data to the console output.
- */
-//% weight=12 color=#00451A icon="\uf112"
-//% advanced=true
-namespace console {
-    type Listener = (text: string) => void;
-
-    const listeners: Listener[] = [
-        (text: string) => serial.writeLine(text)
-    ];
-
-    /**
-     * Write a line of text to the console output.
-     * @param value to send
-     */
-    //% weight=90
-    //% help=console/log blockGap=8
-    //% blockId=console_log block="console|log %text"
-    export function log(text: string): void {
-        for (let i = 0; i < listeners.length; ++i)
-            listeners[i](text);
-    }
-
-    /**
-     * Write a name:value pair as a line of text to the console output.
-     * @param name name of the value stream, eg: "x"
-     * @param value to write
-     */
-    //% weight=88 blockGap=8
-    //% help=console/log-value
-    //% blockId=console_log_value block="console|log value %name|= %value"
-    export function logValue(name: string, value: number): void {
-        log(`${name}: ${value}`)
-    }
-
-    /**
-     * Adds a listener for the log messages
-     * @param listener 
-     */
-    //%
-    export function addListener(listener: (text: string) => void) {
-        if (!listener) return;
-        listeners.push(listener);
-    }
-}

libs/core/input.ts

@@ -25,8 +25,17 @@ namespace sensors.internal {
         })
     }
 
+    export function bufferToString(buf: Buffer): string {
+        let s = ''
+        for (let i = 0; i < buf.length; i++)
+            s += String.fromCharCode(buf[i])
+
+        return s
+    }
+
     let analogMM: MMap
     let uartMM: MMap
+    let IICMM: MMap
     let devcon: Buffer
     let sensorInfos: SensorInfo[]
 
@@ -36,11 +45,13 @@ namespace sensors.internal {
         sensors: Sensor[]
         connType: number
         devType: number
+        iicid: string
 
         constructor(p: number) {
             this.port = p
             this.connType = DAL.CONN_NONE
             this.devType = DAL.DEVICE_TYPE_NONE
+            this.iicid = ''
             this.sensors = []
         }
     }
@@ -57,20 +68,21 @@ namespace sensors.internal {
         uartMM = control.mmap("/dev/lms_uart", UartOff.Size, 0)
         if (!uartMM) control.fail("no uart sensor")
 
-        forever(() => {
-            detectDevices()
-            pause(500)
-        })
+        IICMM = control.mmap("/dev/lms_iic", IICOff.Size, 0)
+        if (!IICMM) control.fail("no iic sensor")
 
-        for (let info_ of sensorInfos) {
-            let info = info_
+        unsafePollForChanges(500, 
+            () => { return hashDevices(); }, 
+            (prev, curr) => { detectDevices(); 
+        });
+        sensorInfos.forEach(info => {
             unsafePollForChanges(50, () => {
                 if (info.sensor) return info.sensor._query()
                 return 0
             }, (prev, curr) => {
                 if (info.sensor) info.sensor._update(prev, curr)
             })
-        }
+        })
 
     }
 
@@ -89,6 +101,15 @@ namespace sensors.internal {
         //serial.writeLine("UART " + port + " / " + mode + " - " + info)
     }
 
+    export function readIICID(port: number) {
+        const buf = output.createBuffer(IICStr.Size)
+        buf[IICStr.Port] = port
+        IICMM.ioctl(IO.IIC_READ_TYPE_INFO, buf)
+        const manufacturer = bufferToString(buf.slice(IICStr.Manufacturer, 8))
+        const sensorType = bufferToString(buf.slice(IICStr.SensorType, 8))
+        return manufacturer + sensorType;
+    }
+
     export function getBatteryInfo(): { temp: number; current: number } {
         init();
         return {
@@ -97,52 +118,87 @@ namespace sensors.internal {
         }
     }
 
-    function detectDevices() {
-        let conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
-        let numChanged = 0
+    function hashDevices(): number {
+        const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
+        let r = 0;
+        for(let i = 0; i < conns.length; ++i) {
+            r = (r << 8 | conns[i]);
+        }
+        return r;
+    }
 
-        for (let info of sensorInfos) {
-            let newConn = conns[info.port]
-            if (newConn == info.connType)
-                continue
+    let nonActivated = 0;
+    function detectDevices() {
+        //control.dmesg(`detect devices (${nonActivated} na)`)
+        const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
+        let numChanged = 0;
+        const uartSensors: SensorInfo[] = [];
+
+        for (const sensorInfo of sensorInfos) {
+            const newConn = conns[sensorInfo.port]
+            if (newConn == sensorInfo.connType) {
+                // control.dmesg(`connection unchanged ${newConn} at ${sensorInfo.port}`)
+                continue;
+            }
             numChanged++
-            info.connType = newConn
-            info.devType = DAL.DEVICE_TYPE_NONE
+            sensorInfo.connType = newConn
+            sensorInfo.devType = DAL.DEVICE_TYPE_NONE
             if (newConn == DAL.CONN_INPUT_UART) {
-                control.dmesg(`new UART connection at ${info.port}`)
-                setUartMode(info.port, 0)
-                let uinfo = readUartInfo(info.port, 0)
-                info.devType = uinfo[TypesOff.Type]
-                control.dmesg(`UART type ${info.devType}`)
+                control.dmesg(`new UART connection at ${sensorInfo.port}`)
+                updateUartMode(sensorInfo.port, 0);
+                uartSensors.push(sensorInfo);
+            } else if (newConn == DAL.CONN_NXT_IIC) {
+                control.dmesg(`new IIC connection at ${sensorInfo.port}`)
+                sensorInfo.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
+                sensorInfo.iicid = readIICID(sensorInfo.port)
+                control.dmesg(`IIC ID ${sensorInfo.iicid.length}`)
             } else if (newConn == DAL.CONN_INPUT_DUMB) {
-                control.dmesg(`new DUMB connection at ${info.port}`)
+                control.dmesg(`new DUMB connection at ${sensorInfo.port}`)
                 // TODO? for now assume touch
-                info.devType = DAL.DEVICE_TYPE_TOUCH
+                sensorInfo.devType = DAL.DEVICE_TYPE_TOUCH
             } else if (newConn == DAL.CONN_NONE || newConn == 0) {
-                control.dmesg(`disconnect at ${info.port}`)
+                control.dmesg(`disconnect at port ${sensorInfo.port}`)
             } else {
-                control.dmesg(`unknown connection type: ${newConn} at ${info.port}`)
+                control.dmesg(`unknown connection type: ${newConn} at ${sensorInfo.port}`)
             }
         }
 
-        if (numChanged == 0)
+        if (uartSensors.length > 0) {
+            setUartModes();
+            for (const sensorInfo of uartSensors) {
+                let uinfo = readUartInfo(sensorInfo.port, 0)
+                sensorInfo.devType = uinfo[TypesOff.Type]
+                control.dmesg(`UART type ${sensorInfo.devType}`)
+            }
+        }
+
+        if (numChanged == 0 && nonActivated == 0)
             return
 
-        for (let si of sensorInfos) {
-            if (si.sensor && si.sensor._deviceType() != si.devType) {
-                si.sensor = null
-            }
-            if (si.devType != DAL.DEVICE_TYPE_NONE) {
-                // TODO figure out compiler problem when '|| null' is added here!
-                si.sensor = si.sensors.filter(s => s._deviceType() == si.devType)[0]
-                if (si.sensor == null) {
-                    control.dmesg(`sensor not found for type=${si.devType} at ${si.port}`)
+        control.dmesg(`updating sensor status`)
+        nonActivated = 0;
+        for (const sensorInfo of sensorInfos) {
+            if (sensorInfo.devType == DAL.DEVICE_TYPE_IIC_UNKNOWN) {
+                sensorInfo.sensor = sensorInfo.sensors.filter(s => s._IICId() == sensorInfo.iicid)[0]
+                if (!sensorInfo.sensor) {
+                    control.dmesg(`sensor not found for iicid=${sensorInfo.iicid} at ${sensorInfo.port}`)
+                    nonActivated++;
                 } else {
-                    control.dmesg(`sensor connected type=${si.devType} at ${si.port}`)
-                    si.sensor._activated()
+                    control.dmesg(`sensor connected iicid=${sensorInfo.iicid} at ${sensorInfo.port}`)
+                    sensorInfo.sensor._activated()
+                }
+            } else if (sensorInfo.devType != DAL.DEVICE_TYPE_NONE) {
+                sensorInfo.sensor = sensorInfo.sensors.filter(s => s._deviceType() == sensorInfo.devType)[0]
+                if (!sensorInfo.sensor) {
+                    control.dmesg(`sensor not found for type=${sensorInfo.devType} at ${sensorInfo.port}`)
+                    nonActivated++;
+                } else {
+                    control.dmesg(`sensor connected type=${sensorInfo.devType} at ${sensorInfo.port}`)
+                    sensorInfo.sensor._activated()
                 }
             }
         }
+        //control.dmesg(`detect devices done`)
     }
 
     export class Sensor extends control.Component {
@@ -187,6 +243,10 @@ namespace sensors.internal {
         _deviceType() {
             return 0
         }
+
+        _IICId() {
+            return ''
+        }
     }
 
     export class AnalogSensor extends Sensor {
@@ -207,12 +267,11 @@ namespace sensors.internal {
         constructor(port: number) {
             super(port)
             this.mode = 0
-            this.realmode = -1
+            this.realmode = 0
         }
 
         _activated() {
             this.realmode = 0
-            // uartReset(this.port) // TODO is it ever needed?
             this._setMode(this.mode)
         }
 
@@ -243,6 +302,55 @@ namespace sensors.internal {
         }
     }
 
+    export class IICSensor extends Sensor {
+        protected mode: number // the mode user asked for
+        protected realmode: number // the mode the hardware is in
+        private readLength: number
+
+        constructor(port: number) {
+            super(port)
+            this.mode = 0
+            this.realmode = 0
+            this.readLength = 1;
+        }
+
+        _activated() {
+            this.realmode = 0
+            this._setMode(this.mode)
+        }
+
+        protected _setMode(m: number) {
+            let v = m | 0
+            this.mode = v
+            if (!this.isActive()) return
+            if (this.realmode != this.mode) {
+                this.realmode = v
+                setIICMode(this._port, this._deviceType(), v)
+            }
+        }
+
+        getBytes(): Buffer {
+            return getIICBytes(this.isActive() ? this._port : -1, this.readLength)
+        }
+
+        getNumber(fmt: NumberFormat, off: number) {
+            if (!this.isActive())
+                return 0
+            return getIICNumber(this.readLength, fmt, off, this._port)
+        }
+
+        transaction(deviceAddress: number, write: number[], read: number) {
+            this.readLength = read;
+            transactionIIC(this._port, deviceAddress, write, read)
+        }
+
+        _deviceType() {
+            return DAL.DEVICE_TYPE_IIC_UNKNOWN
+        }
+    }
+
+    export const iicsensor = new IICSensor(3)
+
     function uartReset(port: number) {
         if (port < 0) return
         control.dmesg(`UART reset at ${port}`)
@@ -267,6 +375,7 @@ namespace sensors.internal {
     }
 
     function uartClearChange(port: number) {
+        control.dmesg(`UART clear change`);
         const UART_DATA_READY = 8
         const UART_PORT_CHANGED = 1
         while (true) {
@@ -288,20 +397,43 @@ namespace sensors.internal {
         }
     }
 
+    function setUartModes() {
+        control.dmesg(`UART set modes`)
+        uartMM.ioctl(IO.UART_SET_CONN, devcon)
+        const ports: number[] = [];
+        for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
+            if (devcon.getNumber(NumberFormat.Int8LE, DevConOff.Connection + port) == DAL.CONN_INPUT_UART) {
+                ports.push(port);
+            }
+        }
+
+        while (ports.length) {
+            const port = ports.pop();
+            const status = waitNonZeroUartStatus(port)
+            control.dmesg(`UART set mode ${status} at ${port}`);
+        }
+    }
+
+    function updateUartMode(port: number, mode: number) {
+        control.dmesg(`UART set mode to ${mode} at ${port}`)
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
+    }
+
     function setUartMode(port: number, mode: number) {
         const UART_PORT_CHANGED = 1
         while (true) {
             if (port < 0) return
-            control.dmesg(`UART set mode to ${mode} at ${port}`)
-            devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
-            devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
-            devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
+            updateUartMode(port, mode);
             uartMM.ioctl(IO.UART_SET_CONN, devcon)
             let status = waitNonZeroUartStatus(port)
             if (status & UART_PORT_CHANGED) {
+                control.dmesg(`UART clear changed at ${port}`)
                 uartClearChange(port)
             } else {
-                break
+                control.dmesg(`UART status ${status}`);
+                break;
             }
             pause(10)
         }
@@ -322,6 +454,48 @@ namespace sensors.internal {
             UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index + off)
     }
 
+    export function setIICMode(port: number, type: number, mode: number) {
+        if (port < 0) return;
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NXT_IIC)
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, type)
+        devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
+        IICMM.ioctl(IO.IIC_SET_CONN, devcon)
+    }
+
+    export function transactionIIC(port: number, deviceAddress: number, writeBuf: number[], readLen: number) {
+        if (port < 0) return;
+        let iicdata = output.createBuffer(IICDat.Size)
+        iicdata.setNumber(NumberFormat.Int8LE, IICDat.Port, port)
+        iicdata.setNumber(NumberFormat.Int8LE, IICDat.Repeat, 0)
+        iicdata.setNumber(NumberFormat.Int16LE, IICDat.Time, 0)
+        iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrLng, writeBuf.length + 1)
+        for (let i = 0; i < writeBuf.length; i++)
+            iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrData + i + 1, writeBuf[i])
+        iicdata.setNumber(NumberFormat.Int8LE, IICDat.WrData, deviceAddress)
+        iicdata.setNumber(NumberFormat.Int8LE, IICDat.RdLng, readLen)
+        IICMM.ioctl(IO.IIC_SETUP, iicdata)
+    }
+
+    export function getIICBytes(port: number, length: number) {
+        if (port < 0) return output.createBuffer(length);
+        let index = IICMM.getNumber(NumberFormat.UInt16LE, IICOff.Actual + port * 2);
+        let buf = IICMM.slice(
+            IICOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index,
+            length
+        );
+
+        // Reverse
+        for (let i = 0; i < length / 2; i++) {
+            let c = buf[i]
+            buf[i] = buf[length - i - 1]
+            buf[length - i - 1] = c
+        }
+        return buf;
+    }
+
+    export function getIICNumber(length: number, format: NumberFormat, off: number, port: number) {
+        return getIICBytes(port, length).getNumber(format, off)
+    }
 
     const enum NxtColOff {
         Calibration = 0, // uint32[4][3]
@@ -405,6 +579,52 @@ namespace sensors.internal {
         Size = 58
     }
 
+    const enum IICOff {
+        TypeData = 0, // Types[8][4]
+        Repeat = 1792, // uint16[300][4]
+        Raw = 4192, // int8[32][300][4]
+        Actual = 42592, // uint16[4]
+        LogIn = 42600, // uint16[4]
+        Status = 42608, // int8[4]
+        Output = 42612, // int8[32][4]
+        OutputLength = 42740, // int8[4]
+        Size = 42744
+    }
+
+    const enum IICCtlOff {
+        TypeData = 0, // Types
+        Port = 56, // int8
+        Mode = 57, // int8
+        Size = 58
+    }
+
+    const enum IICDat {
+        Result = 0,  // result
+        Port = 4, // int8
+        Repeat = 5, // int8
+        Time = 6, // int16
+        WrLng = 8, // int8
+        WrData = 9, // int8[32]
+        RdLng = 41, // int8
+        RdData = 42, //int8[32]
+        Size = 74,
+    }
+
+    const enum IICStr {
+        Port = 0, // int8
+        Time = 2, // int16
+        Type = 4, // int8
+        Mode = 5, // int8
+        Manufacturer = 6, // int8[9]
+        SensorType = 15, // int[9]
+        SetupLng = 24, // int8
+        SetupString = 28, // ulong
+        PollLng = 32, // int8
+        PollString = 36, // ulong
+        ReadLng = 40, // int8
+        Size = 44
+    }
+
     const enum IO {
         UART_SET_CONN = 0xc00c7500,
         UART_READ_MODE_INFO = 0xc03c7501,
@@ -472,7 +692,7 @@ namespace sensors {
         }
 
         public threshold(t: ThresholdState): number {
-            switch(t) {
+            switch (t) {
                 case ThresholdState.High: return this.highThreshold;
                 case ThresholdState.Low: return this.lowThreshold;
                 default: return (this.max - this.min) / 2;
@@ -512,5 +732,5 @@ namespace sensors {
                     break;
             }
         }
-    }    
-}
+    }
+}

libs/core/linux.cpp

@@ -14,12 +14,19 @@
 #include <errno.h>
 #include <fcntl.h>
 #include <malloc.h>
+#include <sys/mman.h>
+#include <sys/ioctl.h>
+#include "ev3const.h"
 
 #define THREAD_DBG(...)
 
 #define MALLOC_LIMIT (8 * 1024 * 1024)
 #define MALLOC_CHECK_PERIOD (1024 * 1024)
 
+namespace Array_ {
+RefCollection *mk(unsigned flags);
+}
+
 void *xmalloc(size_t sz) {
     static size_t allocBytes = 0;
     allocBytes += sz;
@@ -144,6 +151,29 @@ static void startUsb() {
     pthread_detach(pid);
 }
 
+static void *exitThread(void *) {
+    int fd = open("/dev/lms_ui", O_RDWR, 0666);
+    if (fd < 0)
+        return 0;
+    uint8_t *data =
+        (uint8_t *)mmap(NULL, NUM_BUTTONS, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0);
+    if (data == MAP_FAILED) {
+        close(fd);
+        return 0;
+    }
+    for (;;) {
+        if (data[5])
+            target_reset();
+        sleep_core_us(50000);
+    }
+}
+
+static void startExitThread() {
+    pthread_t pid;
+    pthread_create(&pid, NULL, exitThread, NULL);
+    pthread_detach(pid);
+}
+
 void sendUsb(uint16_t code, const char *data, int len) {
     while (len > 0) {
         int sz = len;
@@ -450,7 +480,7 @@ void stopLMS() {
         if (!pid)
             continue;
         char namebuf[100];
-        snprintf(namebuf, 1000, "/proc/%d/cmdline", pid);
+        snprintf(namebuf, 100, "/proc/%d/cmdline", pid);
         FILE *f = fopen(namebuf, "r");
         if (f) {
             fread(namebuf, 1, 99, f);
@@ -489,14 +519,22 @@ void runLMS() {
 }
 
 void stopMotors() {
-    uint8_t cmd[2] = { 0xA3, 0x0F };
+    uint8_t cmd[3] = {opOutputStop, 0x0F, 0};
     int fd = open("/dev/lms_pwm", O_RDWR);
-    write(fd, cmd, 2);
+    write(fd, cmd, 3);
+    close(fd);
+}
+
+void stopProgram() {
+    uint8_t cmd[1] = {opOutputProgramStop};
+    int fd = open("/dev/lms_pwm", O_RDWR);
+    write(fd, cmd, 1);
     close(fd);
 }
 
 extern "C" void target_reset() {
     stopMotors();
+    stopProgram();
     if (lmsPid)
         runLMS();
     else
@@ -510,6 +548,7 @@ void initRuntime() {
     DMESG("runtime starting...");
     stopLMS();
     startUsb();
+    startExitThread();
     pthread_t disp;
     pthread_create(&disp, NULL, evtDispatcher, NULL);
     pthread_detach(disp);
@@ -555,4 +594,66 @@ void dmesg(const char *format, ...) {
     fflush(dmesgFile);
     fdatasync(fileno(dmesgFile));
 }
+
+const char *progPath = "/mnt/ramdisk/prjs/BrkProg_SAVE";
+
+//%
+void deleteAllPrograms() {
+    char buf[1024];
+
+    struct dirent *ent;
+    DIR *dir;
+
+    dir = opendir(progPath);
+    if (dir == NULL)
+        return;
+
+    while ((ent = readdir(dir)) != NULL) {
+        if (ent->d_name[0] == '.')
+            continue;
+        snprintf(buf, sizeof(buf), "%s/%s", progPath, ent->d_name);
+        DMESG("FN: %s", ent->d_name);
+        // unlink(buf);
+    }
+
+    closedir(dir);
+}
+
+
+//%
+void deletePrjFile(String filename) {
+    if (strlen(filename->data) > 500 || strchr(filename->data, '/'))
+        return;
+    char buf[1024];
+    snprintf(buf, sizeof(buf), "%s/%s", progPath, filename->data);
+    unlink(buf);
+}
+
+//%
+RefCollection *listPrjFiles() {
+    auto res = Array_::mk(0);
+    //registerGCObj(res);
+
+    auto dp = opendir(progPath);
+
+    for (;;) {
+        dirent *ep = dp ? readdir(dp) : NULL;
+        if (!ep)
+            break;
+        if (ep->d_name[0] == '.')
+            continue;
+        auto str = mkString(ep->d_name, -1);
+        //registerGCObj(str);
+        res->push((TValue)str);
+        //unregisterGCObj(str);
+    }
+    if (dp)
+        closedir(dp);
+    //unregisterGCObj(res);
+
+    return res;
+}
+
+
+
 } // namespace pxt

libs/core/ns.ts

@@ -22,4 +22,9 @@ namespace motors {
     export function __turnRatioPicker(turnratio: number): number {
         return turnratio;
     }
+}
+
+//% icon="\uf112"
+namespace console {
+
 }

libs/core/output.ts

@@ -127,27 +127,43 @@ namespace motors {
         reset(Output.ALL)
     }
 
+    interface MoveSchedule {
+        speed: number;
+        useSteps: boolean;
+        steps: number[];
+    }
+
     //% fixedInstances
     export class MotorBase extends control.Component {
         protected _port: Output;
         protected _portName: string;
         protected _brake: boolean;
+        protected _regulated: boolean;
         private _pauseOnRun: boolean;
         private _initialized: boolean;
+        private _brakeSettleTime: number;
         private _init: () => void;
-        private _run: (speed: number) => void;
-        private _move: (steps: boolean, stepsOrTime: number, speed: number) => void;
+        private _accelerationSteps: number;
+        private _accelerationTime: number;
+        private _decelerationSteps: number;
+        private _decelerationTime: number;
 
-        constructor(port: Output, init: () => void, run: (speed: number) => void, move: (steps: boolean, stepsOrTime: number, speed: number) => void) {
+        protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];
+
+        constructor(port: Output, init: () => void) {
             super();
             this._port = port;
             this._portName = outputToName(this._port);
             this._brake = false;
+            this._regulated = true;
             this._pauseOnRun = true;
             this._initialized = false;
+            this._brakeSettleTime = 10;
             this._init = init;
-            this._run = run;
-            this._move = move;
+            this._accelerationSteps = 0;
+            this._accelerationTime = 0;
+            this._decelerationSteps = 0;
+            this._decelerationTime = 0;
         }
 
         /**
@@ -202,6 +218,20 @@ namespace motors {
             writePWM(b)
         }
 
+        /** 
+         * Set the settle time after braking in milliseconds (default is 10ms).
+        */
+        //% blockId=motorSetBrakeSettleTime block="set %motor|brake settle time %millis|ms"
+        //% motor.fieldEditor="motors"
+        //% weight=1 blockGap=8
+        //% group="Properties"
+        //% millis.defl=200 millis.min=0 millis.max=500
+        setBrakeSettleTime(millis: number) {
+            this.init();
+            // ensure in [0,500]
+            this._brakeSettleTime = Math.max(0, Math.min(500, millis | 0))
+        }
+
         /**
          * Stops the motor(s).
          */
@@ -219,8 +249,8 @@ namespace motors {
         protected settle() {
             // if we've recently completed a motor command with brake
             // allow 500ms for robot to settle
-            if (this._brake)
-                pause(500);
+            if (this._brake && this._brakeSettleTime > 0)
+                pause(this._brakeSettleTime);
         }
 
         protected pauseOnRun(stepsOrTime: number) {
@@ -245,6 +275,34 @@ namespace motors {
             reset(this._port);
         }
 
+        private normalizeSchedule(speed: number, step1: number, step2: number, step3: number, unit: MoveUnit): MoveSchedule {
+            const r: MoveSchedule = {
+                speed: Math.clamp(-100, 100, speed >> 0),
+                useSteps: true,
+                steps: [step1, step2, step3]
+            }
+            let scale = 1;
+            switch (unit) {
+                case MoveUnit.Rotations:
+                    scale = 360;
+                    r.useSteps = true;
+                    break;
+                case MoveUnit.Degrees:
+                    r.useSteps = true;
+                    break;
+                case MoveUnit.Seconds:
+                    scale = 1000;
+                    r.useSteps = false;
+                    break;
+                default:
+                    r.useSteps = false;
+                    break;
+            }
+            for (let i = 0; i < r.steps.length; ++i)
+                r.steps[i] = Math.max(0, (r.steps[i] * scale) | 0);
+            return r;
+        }
+
         /**
          * Runs the motor at a given speed for limited time or distance.
          * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
@@ -259,41 +317,162 @@ namespace motors {
         //% help=motors/motor/run
         run(speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
             this.init();
-            speed = Math.clamp(-100, 100, speed >> 0);
+            const schedule = this.normalizeSchedule(speed, 0, value, 0, unit);
             // stop if speed is 0
-            if (!speed) {
+            if (!schedule.speed) {
                 this.stop();
                 return;
             }
             // special: 0 is infinity
-            if (value == 0) {
-                this._run(speed);
+            if (schedule.steps[0] + schedule.steps[1] + schedule.steps[2] == 0) {
+                this._run(schedule.speed);
+                return;
+            }
+
+            // timed motor moves
+            const steps = schedule.steps;
+            const useSteps = schedule.useSteps;
+
+            // compute ramp up and down
+            steps[0] = (useSteps ? this._accelerationSteps : this._accelerationTime) || 0;
+            steps[2] = (useSteps ? this._decelerationSteps : this._decelerationTime) || 0;
+            if (steps[0] + steps[2] > steps[1]) {
+                // rescale
+                const r = steps[1] / (steps[0] + steps[2]);
+                steps[0] = Math.floor(steps[0] * r);
+                steps[2] *= Math.floor(steps[2] * r);
+            }
+            steps[1] -= (steps[0] + steps[2]);
+
+            // send ramped command
+            this._schedule(schedule);
+            this.pauseOnRun(steps[0] + steps[1] + steps[2]);
+        }
+
+        /**
+         * Schedules a run of the motor with an acceleration, constant and deceleration phase.
+         * @param speed the speed from ``100`` full forward to ``-100`` full backward, eg: 50
+         * @param acceleration acceleration phase measured distance or rotation
+         * @param value measured distance or rotation
+         * @param deceleration deceleration phase measured distance or rotation
+         * @param unit (optional) unit of the value
+         */
+        //% blockId=motorSchedule block="schedule %motor at %speed=motorSpeedPicker|\\%|for %acceleration|%value|%deceleration||%unit"
+        //% weight=99 blockGap=8
+        //% group="Move"
+        //% motor.fieldEditor="motors"
+        //% help=motors/motor/schedule
+        //% inlineInputMode=inline
+        schedule(speed: number, acceleration: number, value: number, deceleration: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
+            this.init();
+            const schedule = this.normalizeSchedule(speed, acceleration, value, deceleration, unit);
+            // stop if speed is 0
+            if (!schedule.speed) {
+                this.stop();
+                return;
+            }
+            // special case: do nothing
+            if (schedule.steps[0] + schedule.steps[1] + schedule.steps[2] == 0) {
                 return;
             }
             // timed motor moves
-            let useSteps: boolean;
-            let stepsOrTime: number;
+            const steps = schedule.steps;
+            // send ramped command
+            this._schedule(schedule);
+            this.pauseOnRun(steps[0] + steps[1] + steps[2]);
+        }
+
+        /**
+         * Specifies the amount of rotation or time for the acceleration
+         * of run commands.
+         */
+        //% blockId=outputMotorsetRunAcceleration block="set %motor|run acceleration to $value||$unit"
+        //% motor.fieldEditor="motors"
+        //% weight=21 blockGap=8
+        //% group="Properties"
+        //% help=motors/motor/set-run-acceleration-ramp
+        setRunAccelerationRamp(value: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
             switch (unit) {
                 case MoveUnit.Rotations:
-                    stepsOrTime = (value * 360) >> 0;
-                    useSteps = true;
+                    this._accelerationSteps = Math.max(0, (value * 360) | 0);
                     break;
                 case MoveUnit.Degrees:
-                    stepsOrTime = value >> 0;
-                    useSteps = true;
+                    this._accelerationSteps = Math.max(0, value | 0);
                     break;
                 case MoveUnit.Seconds:
-                    stepsOrTime = (value * 1000) >> 0;
-                    useSteps = false;
+                    this._accelerationTime = Math.max(0, (value * 1000) | 0);
                     break;
-                default:
-                    stepsOrTime = value;
-                    useSteps = false;
+                case MoveUnit.MilliSeconds:
+                    this._accelerationTime = Math.max(0, value | 0);
                     break;
             }
+        }
 
-            this._move(useSteps, stepsOrTime, speed);
-            this.pauseOnRun(stepsOrTime);
+        /**
+         * Specifies the amount of rotation or time for the acceleration
+         * of run commands.
+         */
+        //% blockId=outputMotorsetRunDeceleration block="set %motor|run deceleration ramp to $value||$unit"
+        //% motor.fieldEditor="motors"
+        //% weight=20 blockGap=8
+        //% group="Properties"
+        //% help=motors/motor/set-run-deceleration-ramp
+        setRunDecelerationRamp(value: number, unit: MoveUnit = MoveUnit.MilliSeconds) {
+            switch (unit) {
+                case MoveUnit.Rotations:
+                    this._decelerationSteps = Math.max(0, (value * 360) | 0);
+                    break;
+                case MoveUnit.Degrees:
+                    this._decelerationSteps = Math.max(0, value | 0);
+                    break;
+                case MoveUnit.Seconds:
+                    this._decelerationTime = Math.max(0, (value * 1000) | 0);
+                    break;
+                case MoveUnit.MilliSeconds:
+                    this._decelerationTime = Math.max(0, value | 0);
+                    break;
+            }
+        }
+
+        private _run(speed: number) {
+            // ramp up acceleration
+            if (this._accelerationTime) {
+                this._schedule({ speed: speed, useSteps: false, steps: [this._accelerationTime, 100, 0] });
+                pause(this._accelerationTime);
+            }
+            // keep going
+            const b = mkCmd(this._port, this._regulated ? DAL.opOutputSpeed : DAL.opOutputPower, 1)
+            b.setNumber(NumberFormat.Int8LE, 2, speed)
+            writePWM(b)
+            if (speed) {
+                writePWM(mkCmd(this._port, DAL.opOutputStart, 0))
+            }
+        }
+
+        private _schedule(schedule: MoveSchedule) {
+            const p = {
+                useSteps: schedule.useSteps,
+                step1: schedule.steps[0],
+                step2: schedule.steps[1],
+                step3: schedule.steps[2],
+                speed: this._regulated ? schedule.speed : undefined,
+                power: this._regulated ? undefined : schedule.speed,
+                useBrake: this._brake
+            };
+            step(this._port, p)
+        }
+
+        /**
+         * Indicates if the motor(s) speed should be regulated. Default is true.
+         * @param value true for regulated motor
+         */
+        //% blockId=outputMotorSetRegulated block="set %motor|regulated %value=toggleOnOff"
+        //% motor.fieldEditor="motors"
+        //% weight=58 blockGap=8
+        //% group="Properties"
+        //% help=motors/motor/set-regulated
+        setRegulated(value: boolean) {
+            this._regulated = value;
         }
 
         /**
@@ -320,33 +499,40 @@ namespace motors {
             pauseUntil(() => this.isReady(), timeOut);
         }
 
+        setRunSmoothness(accelerationPercent: number, decelerationPercent: number) {
+
+        }
+
         protected setOutputType(large: boolean) {
-            /*
-            Instruction opOutput_Set_Type (LAYER, NO, TYPE) 
-            Opcode 0xA1 Arguments (Data8) LAYER – Specify chain layer number [0 - 3]  
-            (Data8) NO – Port number [0 - 3]  
-            (Data8) TYPE – Output device type,  (0x07: Large motor, Medium motor = 0x08) Dispatch status Unchanged 
-            Description This function enables specifying the output device type
-            */
             for (let i = 0; i < DAL.NUM_OUTPUTS; ++i) {
                 if (this._port & (1 << i)) {
-                    const b = mkCmd(i, DAL.opOutputSetType, 1)
-                    b.setNumber(NumberFormat.Int8LE, 2, large ? 0x07 : 0x08)
-                    writePWM(b)
+                    // (0x07: Large motor, Medium motor = 0x08)
+                    MotorBase.output_types[i] = large ? 0x07 : 0x08;
                 }
             }
+            MotorBase.setTypes();
+        }
+
+        // Note, we are having to create our own buffer here as mkCmd creates a buffer with a command
+        // In the case of opOutputSetType, it expects the arguments to be opOutputSetType [type0, type1, type2, type3]
+        static setTypes() {
+            const b = output.createBuffer(5)
+            b.setNumber(NumberFormat.UInt8LE, 0, DAL.opOutputSetType)
+            b.setNumber(NumberFormat.Int8LE, 1, MotorBase.output_types[0]);
+            b.setNumber(NumberFormat.Int8LE, 2, MotorBase.output_types[1]);
+            b.setNumber(NumberFormat.Int8LE, 3, MotorBase.output_types[2]);
+            b.setNumber(NumberFormat.Int8LE, 4, MotorBase.output_types[3]);
+            writePWM(b)
         }
     }
 
     //% fixedInstances
     export class Motor extends MotorBase {
         private _large: boolean;
-        private _regulated: boolean;
 
         constructor(port: Output, large: boolean) {
-            super(port, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
+            super(port, () => this.__init());
             this._large = large;
-            this._regulated = true;
             this.markUsed();
         }
 
@@ -358,40 +544,6 @@ namespace motors {
             this.setOutputType(this._large);
         }
 
-        private __setSpeed(speed: number) {
-            const b = mkCmd(this._port, this._regulated ? DAL.opOutputSpeed : DAL.opOutputPower, 1)
-            b.setNumber(NumberFormat.Int8LE, 2, speed)
-            writePWM(b)
-            if (speed) {
-                writePWM(mkCmd(this._port, DAL.opOutputStart, 0))
-            }
-        }
-
-        private __move(steps: boolean, stepsOrTime: number, speed: number) {
-            step(this._port, {
-                useSteps: steps,
-                step1: 0,
-                step2: stepsOrTime,
-                step3: 0,
-                speed: this._regulated ? speed : undefined,
-                power: this._regulated ? undefined : speed,
-                useBrake: this._brake
-            })
-        }
-
-        /**
-         * Indicates if the motor speed should be regulated. Default is true.
-         * @param value true for regulated motor
-         */
-        //% blockId=outputMotorSetRegulated block="set %motor|regulated %value=toggleOnOff"
-        //% motor.fieldEditor="motors"
-        //% weight=58
-        //% group="Properties"
-        //% help=motors/motor/set-regulated
-        setRegulated(value: boolean) {
-            this._regulated = value;
-        }
-
         /**
          * Gets motor actual speed.
          * @param motor the port which connects to the motor
@@ -479,7 +631,7 @@ namespace motors {
     export class SynchedMotorPair extends MotorBase {
 
         constructor(ports: Output) {
-            super(ports, () => this.__init(), (speed) => this.__setSpeed(speed), (steps, stepsOrTime, speed) => this.__move(steps, stepsOrTime, speed));
+            super(ports, () => this.__init());
             this.markUsed();
         }
 
@@ -491,24 +643,6 @@ namespace motors {
             this.setOutputType(true);
         }
 
-        private __setSpeed(speed: number) {
-            syncMotors(this._port, {
-                speed: speed,
-                turnRatio: 0, // same speed
-                useBrake: !!this._brake
-            })
-        }
-
-        private __move(steps: boolean, stepsOrTime: number, speed: number) {
-            syncMotors(this._port, {
-                useSteps: steps,
-                speed: speed,
-                turnRatio: 0, // same speed
-                stepsOrTime: stepsOrTime,
-                useBrake: this._brake
-            });
-        }
-
         /**
          * The Move Tank block can make a robot drive forward, backward, turn, or stop. 
          * Use the Move Tank block for robot vehicles that have two Large Motors, 
@@ -534,10 +668,12 @@ namespace motors {
             speedRight = Math.clamp(-100, 100, speedRight >> 0);
 
             const speed = Math.abs(speedLeft) > Math.abs(speedRight) ? speedLeft : speedRight;
-            const turnRatio = speedLeft == speed
-                ? (100 - speedRight / speedLeft * 100)
-                : (speedLeft / speedRight * 100 - 100);
+            let turnRatio = speedLeft == speed
+                ? speedLeft == 0 ? 0 : (100 - speedRight / speedLeft * 100)
+                : speedRight == 0 ? 0 : (speedLeft / speedRight * 100 - 100);
+            turnRatio = Math.floor(turnRatio);
 
+            //control.dmesg(`tank ${speedLeft} ${speedRight} => ${turnRatio} ${speed}`)
             this.steer(turnRatio, speed, value, unit);
         }
 
@@ -706,35 +842,24 @@ namespace motors {
     }
 
     function step(out: Output, opts: StepOptions) {
+        control.dmesg('step')
         let op = opts.useSteps ? DAL.opOutputStepSpeed : DAL.opOutputTimeSpeed
         let speed = opts.speed
-        if (speed == null) {
+        if (undefined == speed) {
             speed = opts.power
             op = opts.useSteps ? DAL.opOutputStepPower : DAL.opOutputTimePower
-            if (speed == null)
+            if (undefined == speed)
                 return
         }
         speed = Math.clamp(-100, 100, speed)
-
         let b = mkCmd(out, op, 15)
         b.setNumber(NumberFormat.Int8LE, 2, speed)
         // note that b[3] is padding
         b.setNumber(NumberFormat.Int32LE, 4 + 4 * 0, opts.step1)
         b.setNumber(NumberFormat.Int32LE, 4 + 4 * 1, opts.step2)
         b.setNumber(NumberFormat.Int32LE, 4 + 4 * 2, opts.step3)
-        b.setNumber(NumberFormat.Int8LE, 4 + 4 * 3, opts.useBrake ? 1 : 0)
-        writePWM(b)
-    }
-
-    const types = [0, 0, 0, 0]
-    export function setType(out: Output, type: OutputType) {
-        let b = mkCmd(out, DAL.opOutputSetType, 3)
-        for (let i = 0; i < 4; ++i) {
-            if (out & (1 << i)) {
-                types[i] = type
-            }
-            b.setNumber(NumberFormat.UInt8LE, i + 1, types[i])
-        }
+        const br = !!opts.useBrake ? 1 : 0;
+        b.setNumber(NumberFormat.Int8LE, 4 + 4 * 3, br)
         writePWM(b)
     }
 }

libs/core/platform.h

@@ -0,0 +1 @@
+// leave empty

libs/core/pxt.json

@@ -10,7 +10,6 @@
         "linux.cpp",
         "mmap.cpp",
         "control.cpp",
-        "console.ts",
         "timer.ts",
         "serialnumber.cpp",
         "buttons.ts",
@@ -25,7 +24,8 @@
         "enums.d.ts",
         "dal.d.ts",
         "icons.jres",
-        "ns.ts"
+        "ns.ts",
+        "platform.h"
     ],
     "testFiles": [
         "test.ts"

libs/core/pxtcore.h

@@ -1,9 +1,16 @@
 #ifndef __PXTCORE_H
 #define __PXTCORE_H
 
+#include <stdio.h>
+
 namespace pxt {
 void dmesg(const char *fmt, ...);
 #define DMESG pxt::dmesg
 }
 
+static inline void itoa(int v, char *dst) {
+
+    snprintf(dst, 30, "%d", v);
+
+}
 #endif

libs/ev3/startup.ts

@@ -1,4 +1,8 @@
 // This is the last thing executed before user code
 
+// pulse green, play startup sound, turn off light
+brick.setStatusLight(StatusLight.GreenPulse);
 // We pause for 100ms to give time to read sensor values, so they work in on_start block
-pause(100)
+pause(400)
+// and we're ready
+brick.setStatusLight(StatusLight.Off);

libs/gyro-sensor/docs/reference/sensors/gyro.md

@@ -3,6 +3,7 @@
 ```cards
 sensors.gyro1.angle();
 sensors.gyro1.rate();
+sensors.gyro1.calibrate();
 sensors.gyro1.reset();
 ```
 
@@ -10,4 +11,6 @@ sensors.gyro1.reset();
 
 [angle](/reference/sensors/gyro/angle),
 [rate](/reference/sensors/gyro/rate),
+[reset](/reference/sensors/gyro/calibrate),
 [reset](/reference/sensors/gyro/reset)
+

libs/gyro-sensor/docs/reference/sensors/gyro/angle.md

@@ -12,7 +12,7 @@ When the brick changes its position, it's moved in the direction of one of the a
 
 ## Accuracy and calibration
 
-Gyro sensors aren't perfectly accurate. Sometimes, because of temperature and changes in the way elecricity behaves in the sensor, the gyro returns a small error in it's measurement. This causes the gyro sensor to return an incorrect value for the amount of angle it detected. This might make your robot drive off course and not go to where you want it to.
+Gyro sensors aren't perfectly accurate. Sometimes, because of temperature and changes in the way electricity behaves in the sensor, the gyro returns a small error in it's measurement. This causes the gyro sensor to return an incorrect value for the amount of angle it detected. This might make your robot drive off course and not go to where you want it to.
 
 ### Drift
 
@@ -20,7 +20,7 @@ If you want to turn the tank or robot you built to the left by 45 degrees, you m
 
 The problem is that when you need to read the angle measurement frequently, the amount of error in the angle measurement may continue to increase. If the sensor thought it moved by 45 degrees the first time instead of really 49 degrees, your second turn will put you at 98 degrees when the sensor said 90 degrees. If you want a robot to turn right 90 degrees and drive for 5 meters, it might actually turn 98 degrees and drive 0.7 meters off course before it stops. This error in the sensor's measurement is called _drift_.
 
-### Time to reset
+### Calibration
 
 If errors in the angle values returned by the gyro sensor are making your project not work right, then it's time to **[reset](/reference/sensors/gyro/reset)**. A reset will return the gyro sensor's current angle value back to `0` and _calibrate_ for drift. Calibration is the process of finding out how much error there is in a sensor's measurement and then removing the error from the value returned to your program.
 
@@ -42,7 +42,14 @@ Turn the brick and press ENTER to see the current rotation angle of `gyro 2`.
 
 ```blocks
 brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
-    brick.showNumber(sensors.gyro2.angle(), 1)
+    sensors.gyro2.reset()
+})
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    sensors.gyro2.calibrate()
+})
+forever(function () {
+    brick.showNumber(control.millis(), 1)
+    brick.showNumber(sensors.gyro2.angle(), 2)
 })
 ```