merge master

Bump pxt 5.28.7 (#954 )
* bump * bump pxt
2019-10-31 10:26:50 -07:00 · 2019-10-31 10:22:37 -07:00 · 2019-10-23 11:22:30 -07:00 · 2019-10-20 16:37:57 -07:00 · 2019-10-20 09:31:09 -07:00 · 2019-10-20 09:02:44 -07:00
78 changed files with 1758 additions and 1391 deletions
--- a/.gitignore
+++ b/.gitignore
@ -17,6 +17,7 @@ clients/**/bin/**
 clients/**/obj/**
 clients/electron/projects
 libs/**/_locales/**
+package-lock.json

 videos/**

--- a/cmds/cmds.ts
+++ b/cmds/cmds.ts
@ -1,14 +0,0 @@
-/// <reference path="../node_modules/pxt-core/built/pxtlib.d.ts" />
-
-import * as fs from 'fs';
-
-const deploy = require("./editor/deploy")
-
-export function deployCoreAsync(resp: pxtc.CompileResult) {
-    return deploy.deployCoreAsync(resp, process.env["PXT_SERIAL"] ? false : true)
-        .then(() => {
-            fs.writeFileSync("built/full-" + pxtc.BINARY_UF2, resp.outfiles[pxtc.BINARY_UF2], {
-                encoding: "base64"
-            })
-        })
-}
--- a/cmds/tsconfig.json
+++ b/cmds/tsconfig.json
@ -1,14 +0,0 @@
-{
-    "compilerOptions": {
-        "target": "es5",
-        "noImplicitAny": true,
-        "noImplicitReturns": true,
-        "declaration": true,
-        "outDir": "../built",
-        "module": "commonjs",
-        "rootDir": ".",
-        "newLine": "LF",
-        "sourceMap": false,
-        "types": ["node"]
-    }
-}
--- a/docs/bluetooth.md
+++ b/docs/bluetooth.md
@ -38,10 +38,7 @@ Next you need to enable the experimental features (this may change in the future

 ## Download over Bluetooth

-* go to the **beta** editor https://makecode.mindstorms.com/beta
-
-This feature is not yet released so make sure to use the beta editor.
-
+* go to https://makecode.mindstorms.com/
 * click on **Download** to start a file download as usual
 * on the download dialog, you should see a **Bluetooth** button. Click on the
 **Bluetooth** button to enable the mode.
@ -51,8 +48,9 @@ This feature is not yet released so make sure to use the beta editor.
 ## Choosing the correct serial port

 Unfortunately, the browser dialog does not make it easy to select which serial port is the brick.
-On Windows, it typically reads "Standard Serial over Bluetooth" and you may 
-have multiple of those if you've paired different bricks.
+
+* On Windows, choose ``Standard Serial over Bluetooth``. There might be multiple of those but only one works. Try your luck! Once you know the COM port number, remember it for the next time around.
+* On Mac OS, choose ``cu.BRICKNAME-SerialPort``

 ## Known issues

--- a/docs/fll.md
+++ b/docs/fll.md
@ -35,6 +35,13 @@ On the home page, scroll down to the **FLL / City Shaper** section for specific

 Yes.

+### Can I run the program again on the brick?
+
+![EV3 Brick with Try in BrkProg_Save Folder in File Manager](/static/getting-started/try-in-file-manager.png)
+
+Use the Brick Buttons and navigate to the File Manager tab.  Open the **BrkProg_SAVE** folder, 
+select your program and click the center button to run it again.
+
 ### Does it work without internet?

 No, the editor is cached in your browser cache. However, you can also download the [offline app](/offline-app) in case you need to install it on a computer.
@ -98,6 +105,12 @@ The official answer is currently no. That being said, we have **Experimental sup

 https://youtu.be/VIq8-6Egtqs

+## Are there YouTube videos on MakeCode for EV3?
+
+The MakeCode has a [FLL / City Shaper YouTube Channel](https://www.youtube.com/watch?v=IqL0Pyeu5Ng&list=PLMMBk9hE-SeqkOObethhlZtBTEK6FYx3n) with useful videos.
+
+https://youtu.be/-AirqwC9DL4
+
 ### 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.
--- a/docs/getting-started/try-tutorial.md
+++ b/docs/getting-started/try-tutorial.md
@ -73,6 +73,12 @@ Verify that the program you just created shows eyes on the Brick Display, and th

 **Well done!**

+## Run it Again
+
+![EV3 Brick with Try in BrkProg_Save Folder in File Manager](/static/getting-started/try-in-file-manager.png)
+
+Use the Brick Buttons and navigate to the File Manager tab.  Open the **BrkProg_SAVE** folder, select **Try** and click the center button to run it again.
+
 ## Connect a Large Motor @unplugged

 Now you will learn to control the Large Motor.
--- a/docs/getting-started/try.md
+++ b/docs/getting-started/try.md
@ -54,6 +54,12 @@ Verify that the program you just created shows eyes on the Brick Display, and th

 **Well done!**

+## Run it Again
+
+![EV3 Brick with Try in BrkProg_Save Folder in File Manager](/static/getting-started/try-in-file-manager.png)
+
+Use the Brick Buttons and navigate to the File Manager tab.  Open the **BrkProg_SAVE** folder, select **Try** and click the center button to run it again.
+
 ## Connect a Large Motor

 Now you will learn to control the Large Motor.
--- a/docs/index-ref.json
+++ b/docs/index-ref.json
@ -1,3 +1,3 @@
 {
-    "appref": "v1.2.15"
+    "appref": "v1.2.26"
 }
--- a/docs/offline-app.html
+++ b/docs/offline-app.html
@ -388,12 +388,12 @@
        }
        function downloadWin64() {
            // TODO: Keep this link up-to-date with the desired release version
-            window.open("https://makecode.com/api/release/ev3/v1.1.20/win64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.26/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/v1.1.20/mac64");
+            window.open("https://makecode.com/api/release/ev3/v1.2.26/mac64");
            tickEvent("offlineapp.download", { "target": "ev3", "platform": "mac64" });
        }
    </script>
--- a/docs/projects.md
+++ b/docs/projects.md
@ -1,9 +1,88 @@
 # Projects

-Here are some cool projects that you can build with your @boardname@!
+```codecard
+[
+    {
+        "name": "Getting Started",
+        "url": "/getting-started",
+        "imageUrl": "/static/lessons/firmware.png"
+    },
+    {
+        "name": "Brick Tutorials",
+        "url": "/tutorials/brick",
+        "imageUrl": "/static/tutorials/wake-up.png"
+    },
+    {
+        "name": "Motor Tutorials",
+        "url": "/tutorials/motors",
+        "imageUrl": "/static/tutorials/run-motors.png"
+    },
+    {
+        "name": "Touch Sensor Tutorials",
+        "url": "/tutorials/touch-sensor",
+        "imageUrl": "/static/tutorials/touch-to-run.png"
+    },
+    {
+        "name": "Color Sensor Tutorials",
+        "url": "/tutorials/color-sensor",
+        "imageUrl": "/static/tutorials/what-color.png"
+    },
+    {
+        "name": "Ultrasonic Sensor Tutorials",
+        "url": "/tutorials/ultrasonic-sensor",
+        "imageUrl": "/static/tutorials/object-near.png"
+    },
+    {
+        "name": "Gyro Tutorials",
+        "url": "/tutorials/gyro",
+        "imageUrl": "/static/tutorials/calibrate-gyro.png"
+    },
+    {
+        "name": "Infrared Sensor Tutorials",
+        "url": "/tutorials/infrared-sensor",
+        "imageUrl": "/static/tutorials/security-alert.png"
+    },
+    {
+        "name": "FLL / City Shaper",
+        "url": "/tutorials/city-shaper",
+        "imageUrl": "/static/tutorials/city-shaper/robot1.jpg"
+    },
+    {
+        "name": "Design Engineering",
+        "url": "/design-engineering",
+        "imageUrl": "/static/lessons/make-it-move-without-wheels.png"
+    },
+    {
+        "name": "Coding",
+        "url": "/coding",
+        "imageUrl": "/static/lessons/autonomous-parking.png"
+    },
+    {
+        "name": "Maker",
+        "url": "/maker",
+        "imageUrl": "/static/lessons/make-a-sound-machine.png"
+    },
+    {
+        "name": "Tutorial Videos",
+        "url": "/videos",
+        "imageUrl": "https://legoeducation.videomarketingplatform.co/27288170/35719444/5d009e5f93fbf479c2e5ed2bf87a7990/thumbnail.png"
+    }
+]
+```

-## Basic
+## See Also

-Basic projects to build with your EV3 Brick.
+[Getting Started](/getting-started),
+[Brick Tutorials](/tutorials/brick),
+[Motor Tutorials](/tutorials/motors),
+[Touch Sensor Tutorials](/tutorials/touch-sensor),
+[Color Sensor Tutorials](/tutorials/color-sensor),
+[Ultrasonic Sensor Tutorials](/tutorials/ultrasonic-sensor),
+[Gyro Tutorials](/tutorials/gyro),
+[Infrared Sensor Tutorials](/tutorials/infrared-sensor),
+[FLL / City Shaper](/tutorials/city-shaper),
+[Design Engineering](/design-engineering),
+[Coding](/coding),
+[Maker](/maker),
+[Tutorial Videos](/videos)

-Coming soon.
--- a/docs/projects/SUMMARY.md
+++ b/docs/projects/SUMMARY.md
@ -0,0 +1,69 @@
+# Projects
+
+* [Getting Started](/getting-started)
+  * [Prepare](https://makecode.mindstorms.com/troubleshoot)
+  * [Try](/getting-started/try)
+  * [Use](/getting-started/use)
+  * [First LEGO League](/fll)
+* [Brick Tutorials](/tutorials/brick)
+  * [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)
+  * [Pause On Start](/tutorials/pause-on-start)
+* [Motor Tutorials](/tutorials/motors)
+  * [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)
+  * [Turtle](/tutorials/turtle)
+* [Touch Sensor Tutorials](/tutorials/touch-sensor)
+  * [Touch to Run](/tutorials/touch-to-run)
+  * [Sensor Values](/tutorials/touch-sensor-values)
+  * [Stop At Object](/tutorials/stop-at-object)
+* [Color Sensor Tutorials](/tutorials/color-sensor)
+  * [What Color?](/tutorials/what-color)
+  * [Line Following](/tutorials/line-following)
+  * [Red Light, Green Light](/tutorials/redlight-greenlight)
+  * [Move To Color](/tutorials/move-to-color)
+  * [Reflected Light Measure](/tutorials/reflected-light-measure)
+  * [Reflected Light Calibration](/tutorials/reflected-light-calibration)
+* [Ultrasonic Sensor Tutorials](/tutorials/ultrasonic-sensor)
+  * [Object Near](/tutorials/object-near)
+  * [Wall Follower](/tutorials/wall-follower)
+* [Gyro Tutorials](/tutorials/gyro)
+  * [Calibrate](/tutorials/calibrate-gyro)
+  * [Turn](/tutorials/turn-with-gyro)
+  * [Move Straight](/tutorials/move-straight-with-gyro)
+  * [Drifter](/tutorials/drifter)
+* [Infrared Sensor Tutorials](/tutorials/infrared-sensor)
+  * [Security Alert](/tutorials/security-alert)
+* [FLL / City Shaper](/tutorials/city-shaper)
+  * [Crane Mission / Robot 1](/tutorials/city-shaper/robot-1)
+  * [Crane Mission / Robot 2](/tutorials/city-shaper/robot-2)
+  * [Crane Mission / Video 1](https://youtu.be/IqL0Pyeu5Ng)
+  * [Bluetooth download (beta)](https://youtu.be/VIq8-6Egtqs)
+  * [Turn with Gyro](https://youtu.be/I7ncuXAfBwk)
+  * [Moving with Gyro](https://youtu.be/ufiOPvW37xc)
+  * [Line following with 1 color sensor](https://youtu.be/_LeduyKQVjg)
+  * [Proportional line following with 1 color sensor](https://youtu.be/-AirqwC9DL4)
+  * [Proportional line following with 2 color sensors](https://youtu.be/QWOflBuu9Oo)
+* [Design Engineering](/design-engineering)
+  * [Make It Move Without Wheels](/design-engineering/make-it-move)
+  * [Make It Smarter and Faster](/design-engineering/make-it-smarter)
+  * [Make a System that Communicates](/design-engineering/make-it-communicate)
+* [Coding](/coding)
+  * [Autonomous Parking](/coding/autonomous-parking)
+  * [Object Detection](/coding/object-detection)
+  * [Line Detection](/coding/line-detection)
+* [Maker](/maker)
+  * [Make A Sound Machine](/maker/sound-machine)
+  * [Make A Security Gadget](/maker/security-gadget)
+* [Tutorial Videos](/videos)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5d009e5f93fbf479c2e5ed2bf87a7990&source=embed&photo%5fid=35719444)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=2008a566f1fb034d58d5ebe19ba8621f&source=embed&photo%5fid=35719467)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=629730c938e452f0fd7653fbc4708166&source=embed&photo%5fid=35719470)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=3513a83b87fe536b2dc512237465fd1b&source=embed&photo%5fid=35719471)
+  * [undefined](https://legoeducation.videomarketingplatform.co/v.ihtml/player.html?token=5c594c2373367f7870196f519f3bfc7a&source=embed&photo%5fid=35719472)
--- a/docs/reference/brick/exit-program.md
+++ b/docs/reference/brick/exit-program.md
@ -0,0 +1,18 @@
+# exit Program
+
+Stops the program and returns to the brick menu
+
+```sig
+brick.exitProgram();
+```
+
+## Example
+
+Do a sequence of motor commands and stop the program.
+
+```blocks
+motors.largeA.run(50)
+pause(500)
+motors.stopAll()
+brick.exitProgram();
+```
--- a/docs/stable-ref.json
+++ b/docs/stable-ref.json
@ -0,0 +1,3 @@
+{
+    "appref": "v1.2"
+}
--- a/docs/static/getting-started/try-in-file-manager.png
+++ b/docs/static/getting-started/try-in-file-manager.png
--- a/docs/static/tutorials/drifter.png
+++ b/docs/static/tutorials/drifter.png
--- a/docs/static/tutorials/turn-with-gyro.png
+++ b/docs/static/tutorials/turn-with-gyro.png
--- a/docs/tutorials/city-shaper.md
+++ b/docs/tutorials/city-shaper.md
@ -24,6 +24,26 @@
    "name": "Bluetooth download (beta)",
    "description": "EXPERIMENTAL! Learn how to download code via Bluetooth.",
    "youTubeId": "VIq8-6Egtqs"
+}, {
+    "name": "Turn with Gyro",
+    "description": "Use the gyro for precise turns.",
+    "youTubeId": "I7ncuXAfBwk"
+}, {
+    "name": "Moving with Gyro",
+    "description": "Use the gyro for correct the robot trajectory.",
+    "youTubeId": "ufiOPvW37xc"
+}, {
+    "name": "Line following with 1 color sensor",
+    "description": "Simple line following using the color sensor.",
+    "youTubeId": "_LeduyKQVjg"
+}, {
+    "name": "Proportional line following with 1 color sensor",
+    "description": "Proportional line following using the color sensor.",
+    "youTubeId": "-AirqwC9DL4"
+}, {
+    "name": "Proportional line following with 2 color sensors",
+    "description": "Proportional line following using two color sensor.",
+    "youTubeId": "QWOflBuu9Oo"
 }]
 ```

--- a/docs/tutorials/drifter.md
+++ b/docs/tutorials/drifter.md
@ -0,0 +1,34 @@
+# Drifter
+
+Use this program to try out the gyro sensor and the effect of drifting.
+
+```typescript
+// this loop shows the rate, angle and drift of the robot
+forever(() => {
+    brick.showValue("rate", sensors.gyro2.rate(), 1)
+    brick.showValue("angle", sensors.gyro2.angle(), 2)
+    brick.showValue("drift", sensors.gyro2.drift(), 3)
+})
+// this loop shows wheter the sensor is calibrating
+forever(() => {
+    brick.showString(sensors.gyro2.isCalibrating() ? "calibrating..." : "", 4)
+})
+// instructions on how to use the buttons
+brick.showString("ENTER: calibrate", 7)
+brick.showString("       (reset+drift)", 8)
+brick.showString("LEFT: reset", 9)
+brick.showString("RIGHT: compute drift", 10)
+
+// enter -> calibrate
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    sensors.gyro2.calibrate()
+})
+// right -> compute drift
+brick.buttonRight.onEvent(ButtonEvent.Pressed, function () {
+    sensors.gyro2.computeDrift()
+})
+// left -> reset
+brick.buttonLeft.onEvent(ButtonEvent.Pressed, function () {
+    sensors.gyro2.reset()
+})
+```
--- a/docs/tutorials/gyro.md
+++ b/docs/tutorials/gyro.md
@ -9,11 +9,23 @@
  "cardType": "tutorial",
  "url":"/tutorials/calibrate-gyro",
  "imageUrl":"/static/tutorials/calibrate-gyro.png"
+}, {
+  "name": "Turn",
+  "description": "Use the gyro to turn precisely",
+  "cardType": "tutorial",
+  "url":"/tutorials/turn-with-gyro",
+  "imageUrl":"/static/tutorials/turn-with-gyro.png"
 }, {
  "name": "Move Straight",
  "description": "Use the gyro to correct the trajectory of the robot",
  "cardType": "tutorial",
  "url":"/tutorials/move-straight-with-gyro",
  "imageUrl":"/static/tutorials/move-straight-with-gyro.png"
+}, {
+  "name": "Drifter",
+  "description": "Explore how the gyro is drifting",
+  "cardType": "example",
+  "url":"/tutorials/drifter",
+  "imageUrl":"/static/tutorials/drifter.png"
 }]
 ```
--- a/docs/tutorials/turn-with-gyro.md
+++ b/docs/tutorials/turn-with-gyro.md
@ -0,0 +1,43 @@
+# Turn With Gyro
+
+## Introduction @fullscreen
+
+Use the gyro to measure how much the robot is turning, regardless if your wheels are slipping.
+
+## Step 1 Calibrate
+
+Add the ``||sensors:calibrate gyro||`` block to make sure your gyro is ready to use.
+
+```blocks
+sensors.gyro2.calibrate()
+```
+
+## Step 2 Turn
+
+Use motor blocks to make the robot turn. Don't go too fast!
+
+```blocks
+sensors.gyro2.calibrate()
+motors.largeBC.steer(200, 20)
+```
+
+## Step 3 Pause for turn
+
+Use the ``||sensors:pause until rotated||`` block to wait until the desired amount of rotation has occured.
+
+```blocks
+sensors.gyro2.calibrate()
+motors.largeBC.steer(200, 20)
+sensors.gyro2.pauseUntilRotated(90)
+```
+
+## Step 4 Stop
+
+Stop the motors!
+
+```blocks
+sensors.gyro2.calibrate()
+motors.largeBC.steer(200, 20)
+sensors.gyro2.pauseUntilRotated(90)
+motors.stopAll()
+```
--- a/editor/deploy.ts
+++ b/editor/deploy.ts
@ -3,20 +3,15 @@

 import UF2 = pxtc.UF2;
 import { Ev3Wrapper } from "./wrap";
+import { bluetoothTryAgainAsync } from "./dialogs";

 export let ev3: Ev3Wrapper;
-let confirmAsync: (options: any) => Promise<number>;
-
-export function setConfirmAsync(cf: (options: any) => Promise<number>) {
-    confirmAsync = cf;
-}

 export function debug() {
    return initHidAsync()
        .then(w => w.downloadFileAsync("/tmp/dmesg.txt", v => console.log(pxt.Util.uint8ArrayToString(v))))
 }

-
 // Web Serial API https://wicg.github.io/serial/
 // chromium bug https://bugs.chromium.org/p/chromium/issues/detail?id=884928
 // Under experimental features in Chrome Desktop 77+
@ -167,7 +162,7 @@ export function initAsync(): Promise<void> {
        useHID = false
    } else {
        const nodehid = /nodehid/i.test(window.location.href);
-        if (pxt.Cloud.isLocalHost() && pxt.Cloud.localToken && nodehid)
+        if (pxt.BrowserUtils.isLocalHost() && pxt.Cloud.localToken && nodehid)
            useHID = true;
    }

@ -283,22 +278,9 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
            return w.reconnectAsync(false)
                .catch(e => {
                    // user easily forgets to stop robot
-                    if (confirmAsync)
-                        return confirmAsync({
-                            header: lf("Bluetooth download failed..."),
-                            htmlBody:
-                                `<ul>
-<li>${lf("Make sure to stop your program or exit portview on the EV3.")}</li>
-<li>${lf("Check your battery level.")}</li>
-<li>${lf("Close EV3 LabView or other MakeCode editor tabs.")}
-</ul>`,
-                            hasCloseIcon: true,
-                            hideCancel: true,
-                            hideAgree: false,
-                            agreeLbl: lf("Try again"),
-                        }).then(() => w.disconnectAsync())
-                            .then(() => Promise.delay(1000))
-                            .then(() => w.reconnectAsync());
+                    bluetoothTryAgainAsync().then(() => w.disconnectAsync())
+                        .then(() => Promise.delay(1000))
+                        .then(() => w.reconnectAsync());

                    // nothing we can do
                    return Promise.reject(e);
--- a/editor/dialogs.tsx
+++ b/editor/dialogs.tsx
@ -0,0 +1,145 @@
+import * as React from "react";
+import { canUseWebSerial, enableWebSerialAsync } from "./deploy";
+import { projectView } from "./extension";
+
+let confirmAsync: (options: any) => Promise<number>;
+
+export function bluetoothTryAgainAsync(): Promise<void> {
+    return confirmAsync({
+        header: lf("Bluetooth download failed..."),
+        jsx: <ul>
+            <li>{lf("Make sure to stop your program or exit portview on the EV3.")}</li>
+            <li>{lf("Check your battery level.")}</li>
+            <li>{lf("Close EV3 LabView or other MakeCode editor tabs.")}</li>
+        </ul>,
+        hasCloseIcon: false,
+        hideCancel: true,
+        hideAgree: false,
+        agreeLbl: lf("Try again")
+    }).then(r => {});
+}
+
+function enableWebSerialAndCompileAsync() {
+    return enableWebSerialAsync()
+        .then(() => Promise.delay(500))
+        .then(() => projectView.compile());
+}
+
+let bluetoothDialogShown = false;
+function explainWebSerialPairingAsync(): Promise<void> {
+    if (!confirmAsync || bluetoothDialogShown) return Promise.resolve();
+
+    bluetoothDialogShown = true;
+    return confirmAsync({
+        header: lf("Bluetooth pairing"),
+        hasCloseIcon: false,
+        hideCancel: true,
+        buttons: [{
+            label: lf("Help"),
+            icon: "question circle",
+            className: "lightgrey",
+            url: "/bluetooth"
+        }],
+        jsx: <p>
+            {lf("You will be prompted to select a serial port.")}
+            {pxt.BrowserUtils.isWindows()
+                ? lf("Look for 'Standard Serial over Bluetooth link'.")
+                : lf("Loop for 'cu.EV3-SerialPort'.")}
+            {lf("If you have paired multiple EV3, you might have to try out multiple ports until you find the correct one.")}
+        </p>
+    }).then(() => { })
+}
+
+export function showUploadDialogAsync(fn: string, url: string, _confirmAsync: (options: any) => Promise<number>): Promise<void> {
+    confirmAsync = _confirmAsync;
+    // https://msdn.microsoft.com/en-us/library/cc848897.aspx
+    // "For security reasons, data URIs are restricted to downloaded resources. 
+    // Data URIs cannot be used for navigation, for scripting, or to populate frame or iframe elements"
+    const downloadAgain = !pxt.BrowserUtils.isIE() && !pxt.BrowserUtils.isEdge();
+    const docUrl = pxt.appTarget.appTheme.usbDocs;
+
+    const jsx =
+        <div className="ui grid stackable">
+            <div className="column five wide" style={{ backgroundColor: "#E2E2E2" }}>
+                <div className="ui header">{lf("First time here?")}</div>
+                <strong style={{ fontSize: "small" }}>{lf("You must have version 1.10E or above of the firmware")}</strong>
+                <div style={{ justifyContent: "center", display: "flex", padding: "1rem" }}>
+                    <img className="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>
+            <div className="column eleven wide">
+                <div className="ui grid">
+                    <div className="row">
+                        <div className="column">
+                            <div className="ui two column grid padded">
+                                <div className="column">
+                                    <div className="ui">
+                                        <div className="image">
+                                            <img className="ui medium rounded image" src="/static/download/connect.svg" style={{ height: "109px", width: "261px", marginBottom: "1rem" }} />
+                                        </div>
+                                        <div className="content">
+                                            <div className="description">
+                                                <span className="ui yellow circular label">1</span>
+                                                <strong>{lf("Connect the EV3 to your computer with a USB cable")}</strong>
+                                                <br />
+                                                <span style={{ fontSize: "small" }}>{lf("Use the miniUSB port on the top of the EV3 Brick")}</span>
+                                            </div>
+                                        </div>
+                                    </div>
+                                </div>
+                                <div className="column">
+                                    <div className="ui">
+                                        <div className="image">
+                                            <img className="ui medium rounded image" src="/static/download/transfer.svg" style={{ height: "109px", width: "261px", marginBottom: "1rem" }} />
+                                        </div>
+                                        <div className="content">
+                                            <div className="description">
+                                                <span className="ui yellow circular label">2</span>
+                                                <strong>{lf("Move the .uf2 file to the EV3 Brick")}</strong>
+                                                <br />
+                                                <span style={{ fontSize: "small" }}>{lf("Locate the downloaded .uf2 file and drag it to the EV3 USB drive")}</span>
+                                            </div>
+                                        </div>
+                                    </div>
+                                </div>
+                            </div>
+                        </div>
+                    </div>
+                </div>
+            </div>
+        </div>;
+
+    return confirmAsync({
+        header: lf("Download to your EV3"),
+        jsx,
+        hasCloseIcon: true,
+        hideCancel: true,
+        hideAgree: false,
+        agreeLbl: lf("I got it"),
+        className: 'downloaddialog',
+        buttons: [canUseWebSerial() ? {
+            label: lf("Bluetooth"),
+            icon: "bluetooth",
+            className: "bluetooth focused",
+            onclick: () => {
+                pxt.tickEvent("bluetooth.enable");
+                explainWebSerialPairingAsync()
+                    .then(() => enableWebSerialAndCompileAsync())
+                    .done();
+            }
+        } : undefined, downloadAgain ? {
+            label: fn,
+            icon: "download",
+            className: "lightgrey focused",
+            url,
+            fileName: fn
+        } : undefined, docUrl ? {
+            label: lf("Help"),
+            icon: "help",
+            className: "lightgrey",
+            url: docUrl
+        } : undefined]
+        //timeout: 20000
+    }).then(() => { });
+}
--- a/editor/extension.ts
+++ b/editor/extension.ts
@ -1,144 +1,26 @@
+/// <reference path="../node_modules/pxt-core/localtypings/pxtarget.d.ts" />
+/// <reference path="../node_modules/pxt-core/built/pxtblocks.d.ts" />
+/// <reference path="../node_modules/pxt-core/built/pxtcompiler.d.ts" />
+/// <reference path="../node_modules/pxt-core/built/pxtlib.d.ts" />
 /// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
 /// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>

-import { deployCoreAsync, initAsync, canUseWebSerial, enableWebSerialAsync, setConfirmAsync } from "./deploy";
+import { deployCoreAsync, initAsync } from "./deploy";
+import { showUploadDialogAsync } from "./dialogs";
+
+export let projectView: pxt.editor.IProjectView;

-let bluetoothDialogShown = false;
 pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
-    const projectView = opts.projectView;
    pxt.debug('loading pxt-ev3 target extensions...')
-
-    function enableWebSerialAndCompileAsync() {
-        return enableWebSerialAsync()
-        .then(() => Promise.delay(500))
-        .then(() => projectView.compile());
-    }
+    projectView = opts.projectView;

    const res: pxt.editor.ExtensionResult = {
-        deployCoreAsync,
-        showUploadInstructionsAsync: (fn: string, url: string, confirmAsync: (options: any) => Promise<number>) => {
-            setConfirmAsync(confirmAsync);
-            // https://msdn.microsoft.com/en-us/library/cc848897.aspx
-            // "For security reasons, data URIs are restricted to downloaded resources. 
-            // Data URIs cannot be used for navigation, for scripting, or to populate frame or iframe elements"
-            const downloadAgain = !pxt.BrowserUtils.isIE() && !pxt.BrowserUtils.isEdge();
-            const docUrl = pxt.appTarget.appTheme.usbDocs;
-
-            const htmlBody = `
-            <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 1.10E 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;" />
-                    </div>
-                    <a href="/troubleshoot" target="_blank">${lf("Check your firmware version here and update if needed")}</a>
-                </div>
-                <div class="column eleven wide">
-                    <div class="ui grid">
-                        <div class="row">
-                            <div class="column">
-                                <div class="ui two column grid padded">
-                                    <div class="column">
-                                        <div class="ui">
-                                            <div class="image">
-                                                <img class="ui medium rounded image" src="/static/download/connect.svg" style="height:109px;width:261px;margin-bottom:1rem;" />
-                                            </div>
-                                            <div class="content">
-                                                <div class="description">
-                                                    <span class="ui yellow circular label">1</span>
-                                                    <strong>${lf("Connect the EV3 to your computer with a USB cable")}</strong>
-                                                    <br />
-                                                    <span style="font-size:small">${lf("Use the miniUSB port on the top of the EV3 Brick")}</span>
-                                                </div>
-                                            </div>
-                                        </div>
-                                    </div>
-                                    <div class="column">
-                                        <div class="ui">
-                                            <div class="image">
-                                                <img class="ui medium rounded image" src="/static/download/transfer.svg" style="height:109px;width:261px;margin-bottom:1rem;" />
-                                            </div>
-                                            <div class="content">
-                                                <div class="description">
-                                                    <span class="ui yellow circular label">2</span>
-                                                    <strong>${lf("Move the .uf2 file to the EV3 Brick")}</strong>
-                                                    <br />
-                                                    <span style="font-size:small">${lf("Locate the downloaded .uf2 file and drag it to the EV3 USB drive")}</span>
-                                                </div>
-                                            </div>
-                                        </div>
-                                    </div>
-                                </div>
-                            </div>
-                        </div>
-                    </div>
-                </div>
-            </div>`;
-
-            return confirmAsync({
-                header: lf("Download to your EV3"),
-                htmlBody,
-                hasCloseIcon: true,
-                hideCancel: true,
-                hideAgree: false,
-                agreeLbl: lf("I got it"),
-                className: 'downloaddialog',
-                buttons: [canUseWebSerial() ? {
-                    label: lf("Bluetooth"),
-                    icon: "bluetooth",
-                    className: "bluetooth focused",
-                    onclick: () => {
-                        pxt.tickEvent("bluetooth.enable");
-                        if (bluetoothDialogShown) {
-                            enableWebSerialAndCompileAsync().done();
-                        } else {
-                            bluetoothDialogShown = true;
-                            confirmAsync({
-                                header: lf("Bluetooth pairing"),
-                                hasCloseIcon: true,
-                                hideCancel: true,
-                                buttons: [{
-                                    label: lf("Help"),
-                                    icon: "question circle",
-                                    className: "lightgrey",
-                                    url: "/bluetooth"
-                                }],
-                                htmlBody: `<p>
-${lf("You will be prompted to select a serial port.")}
-${pxt.BrowserUtils.isWindows() 
-    ? lf("Look for 'Standard Serial over Bluetooth link'.") 
-    : lf("Loop for 'cu.EV3-SerialPort'.")}
-${lf("If you have paired multiple EV3, you might have to try out multiple ports until you find the correct one.")}
-</p>
-`
-                            }).then(() => enableWebSerialAndCompileAsync())
-                        }
-                    }
-                } : undefined, downloadAgain ? {
-                    label: fn,
-                    icon: "download",
-                    className: "lightgrey focused",
-                    url,
-                    fileName: fn
-                } : undefined, docUrl ? {
-                    label: lf("Help"),
-                    icon: "help",
-                    className: "lightgrey",
-                    url: docUrl
-                } : undefined]
-                //timeout: 20000
-            }).then(() => { });
-        }
+        deployAsync: deployCoreAsync,
+        showUploadInstructionsAsync: showUploadDialogAsync
    };
+
    initAsync().catch(e => {
        // probably no HID - we'll try this again upon deployment
    })
    return Promise.resolve<pxt.editor.ExtensionResult>(res);
 }
-
-// When require()d from node, bind the global pxt namespace
-// namespace pxt {
-//     export const dummyExport = 1;
-// }
-// eval("if (typeof process === 'object' && process + '' === '[object process]') pxt = global.pxt")
--- a/editor/tsconfig.json
+++ b/editor/tsconfig.json
@ -1,14 +1,17 @@
 {
    "compilerOptions": {
        "target": "es5",
-        "noImplicitAny": false,
+        "noImplicitAny": true,
        "noImplicitReturns": true,
+        "noImplicitThis": true,
+        "declaration": true,
        "module": "commonjs",
+        "moduleResolution": "node",
+        "isolatedModules": false,
        "outDir": "../built/editor",
        "rootDir": ".",
        "newLine": "LF",
        "sourceMap": false,
-        "allowSyntheticDefaultImports": true,
-        "declaration": true
+        "jsx": "react"
    }
 }
--- a/fieldeditors/extension.ts
+++ b/fieldeditors/extension.ts
@ -3,9 +3,7 @@

 import { FieldPorts } from "./field_ports";
 import { FieldMotors } from "./field_motors";
-import { FieldSpeed } from "./field_speed";
 import { FieldBrickButtons } from "./field_brickbuttons";
-import { FieldTurnRatio } from "./field_turnratio";
 import { FieldColorEnum } from "./field_color";
 import { FieldMusic } from "./field_music";

@ -19,15 +17,9 @@ pxt.editor.initFieldExtensionsAsync = function (opts: pxt.editor.FieldExtensionO
        }, {
            selector: "motors",
            editor: FieldMotors
-        }, {
-            selector: "speed",
-            editor: FieldSpeed
        }, {
            selector: "brickbuttons",
            editor: FieldBrickButtons
-        }, {
-            selector: "turnratio",
-            editor: FieldTurnRatio
        }, {
            selector: "colorenum",
            editor: FieldColorEnum
--- a/fieldeditors/field_brickbuttons.ts
+++ b/fieldeditors/field_brickbuttons.ts
@ -121,17 +121,17 @@ export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.
        Blockly.DropDownDiv.setColour('#ffffff', '#dddddd');

        // Calculate positioning based on the field position.
-        var scale = this.sourceBlock_.workspace.scale;
-        var bBox = { width: this.size_.width, height: this.size_.height };
+        let scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
+        let bBox = { width: this.size_.width, height: this.size_.height };
        bBox.width *= scale;
        bBox.height *= scale;
-        var position = this.fieldGroup_.getBoundingClientRect();
-        var primaryX = position.left + bBox.width / 2;
-        var primaryY = position.top + bBox.height;
-        var secondaryX = primaryX;
-        var secondaryY = position.top;
+        let position = this.fieldGroup_.getBoundingClientRect();
+        let primaryX = position.left + bBox.width / 2;
+        let primaryY = position.top + bBox.height;
+        let secondaryX = primaryX;
+        let secondaryY = position.top;
        // Set bounds to workspace; show the drop-down.
-        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
            this.onHide_.bind(this));
    }
@ -152,9 +152,10 @@ export class FieldBrickButtons extends Blockly.FieldDropdown implements Blockly.
     * Callback for when the drop-down is hidden.
     */
    private onHide_ = function () {
-        Blockly.DropDownDiv.content_.removeAttribute('role');
-        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
-        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
-        Blockly.DropDownDiv.getContentDiv().style.width = '';
+        const content = Blockly.DropDownDiv.getContentDiv();
+        content.removeAttribute('role');
+        content.removeAttribute('aria-haspopup');
+        content.removeAttribute('aria-activedescendant');
+        (content as HTMLElement).style.width = '';
    };
 }
--- a/fieldeditors/field_color.ts
+++ b/fieldeditors/field_color.ts
@ -44,7 +44,7 @@ export class FieldColorEnum extends pxtblockly.FieldColorNumber implements Block
     * @return {string} Current colour in '#rrggbb' format.
     */
    getValue(opt_asHex?: boolean) {
-        var colour = this.mapColour(this.colour_);
+        const colour = this.mapColour(this.value_);
        if (!opt_asHex && colour.indexOf('#') > -1) {
            return `0x${colour.replace(/^#/, '')}`;
        }
@ -56,13 +56,13 @@ export class FieldColorEnum extends pxtblockly.FieldColorNumber implements Block
     * @param {string} colour The new colour in '#rrggbb' format.
     */
    setValue(colorStr: string) {
-        var colour = this.mapEnum(colorStr);
+        let colour = this.mapEnum(colorStr);
        if (this.sourceBlock_ && Blockly.Events.isEnabled() &&
-            this.colour_ != colour) {
+            this.value_ != colour) {
            Blockly.Events.fire(new (Blockly as any).Events.BlockChange(
-                this.sourceBlock_, 'field', this.name, this.colour_, colour));
+                this.sourceBlock_, 'field', this.name, this.value_, colour));
        }
-        this.colour_ = colour;
+        this.value_ = colour;
        if (this.sourceBlock_) {
            this.sourceBlock_.setColour(colour, colour, colour);
        }
--- a/fieldeditors/field_motors.ts
+++ b/fieldeditors/field_motors.ts
@ -46,31 +46,31 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        (this as any).arrowX_ = 0;
        /** @type {Number} */
        this.arrowY_ = 11;
-        this.arrow_ = Blockly.utils.createSvgElement('image', {
+        this.arrow_ = Blockly.utils.dom.createSvgElement('image', {
            'height': (this as any).arrowSize_ + 'px',
            'width': (this as any).arrowSize_ + 'px'
-        });
+        }, null);
        this.arrow_.setAttributeNS('http://www.w3.org/1999/xlink',
            'xlink:href', (Blockly.FieldDropdown as any).DROPDOWN_SVG_DATAURI);

-        this.arrow2_ = Blockly.utils.createSvgElement('image', {
+        this.arrow2_ = <SVGImageElement>Blockly.utils.dom.createSvgElement('image', {
            'height': (this as any).arrowSize_ + 'px',
            'width': (this as any).arrowSize_ + 'px'
-        });
+        }, null);
        this.arrow2_.setAttributeNS('http://www.w3.org/1999/xlink',
            'xlink:href', (Blockly.FieldDropdown as any).DROPDOWN_SVG_DATAURI);
        (this as any).className_ += ' blocklyDropdownText';

        // Build the DOM.
-        this.fieldGroup_ = Blockly.utils.createSvgElement('g', {}, null);
+        this.fieldGroup_ = Blockly.utils.dom.createSvgElement('g', {}, null);
        if (!this.visible_) {
            (this.fieldGroup_ as any).style.display = 'none';
        }
        // Adjust X to be flipped for RTL. Position is relative to horizontal start of source block.
-        var size = this.getSize();
-        var fieldX = (this.sourceBlock_.RTL) ? -size.width / 2 : size.width / 2;
+        let size = this.getSize();
+        let fieldX = (this.sourceBlock_.RTL) ? -size.width / 2 : size.width / 2;
        /** @type {!Element} */
-        this.textElement_ = Blockly.utils.createSvgElement('text',
+        this.textElement_ = Blockly.utils.dom.createSvgElement('text',
            {
                'class': (this as any).className_,
                'x': fieldX,
@ -79,7 +79,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            },
            this.fieldGroup_);
        fieldX += 10; // size of first group.
-        this.textElement2_ = Blockly.utils.createSvgElement('text',
+        this.textElement2_ = <SVGTextElement>Blockly.utils.dom.createSvgElement('text',
            {
                'class': (this as any).className_,
                'x': fieldX,
@ -89,17 +89,17 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            this.fieldGroup_);

        this.updateEditable();
-        this.sourceBlock_.getSvgRoot().appendChild(this.fieldGroup_);
+        (this.sourceBlock_ as Blockly.BlockSvg).getSvgRoot().appendChild(this.fieldGroup_);
        // Force a render.
        this.render_();
-        this.size_.width = 0;
+        this.isDirty_ = true;
        (this as any).mouseDownWrapper_ =
            Blockly.bindEventWithChecks_((this as any).getClickTarget_(), 'mousedown', this,
                (this as any).onMouseDown_);

        // Add second dropdown 
        if (this.shouldShowRect_()) {
-            this.box_ = Blockly.utils.createSvgElement('rect', {
+            this.box_ = <SVGRectElement>Blockly.utils.dom.createSvgElement('rect', {
                'rx': (Blockly.BlockSvg as any).CORNER_RADIUS,
                'ry': (Blockly.BlockSvg as any).CORNER_RADIUS,
                'x': 0,
@ -112,7 +112,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
                'fill-opacity': 1
            }, null);
            this.fieldGroup_.insertBefore(this.box_, this.textElement_);
-            this.box2_ = Blockly.utils.createSvgElement('rect', {
+            this.box2_ = <SVGRectElement>Blockly.utils.dom.createSvgElement('rect', {
                'rx': (Blockly.BlockSvg as any).CORNER_RADIUS,
                'ry': (Blockly.BlockSvg as any).CORNER_RADIUS,
                'x': 0,
@ -128,7 +128,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        }

        // Force a reset of the text to add the arrow.
-        var text = this.text_;
+        let text = this.text_;
        this.text_ = null;
        this.setText(text);
    }
@ -149,9 +149,9 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
    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')
+            'medium motor': lf("medium motor"),
+            'large motor': lf("large motor"),
+            'large motors': lf("large motors")
        }
        return motorOptions[firstValue];
    }
@ -179,7 +179,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            // Not rendered yet.
            return;
        }
-        var text = this.text_;
+        let text = this.text_;
        if (text.length > this.maxDisplayLength) {
            // Truncate displayed string and add an ellipsis ('...').
            text = text.substring(0, this.maxDisplayLength - 2) + '\u2026';
@ -200,11 +200,11 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            // Prevent the field from disappearing if empty.
            text = Blockly.Field.NBSP;
        }
-        var textNode = document.createTextNode(text);
+        let textNode = document.createTextNode(text);
        this.textElement2_.appendChild(textNode);

        // Cached width is obsolete.  Clear it.
-        this.size_.width = 0;
+        this.isDirty_ = true;
    };

    patchDualMotorText(text: string) {
@ -233,8 +233,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        if (this.textElement2_) {
            this.textElement2_.parentNode.appendChild(this.arrow2_);
        }
-        if (this.sourceBlock_ && this.sourceBlock_.rendered) {
-            this.sourceBlock_.render();
+        if (this.sourceBlock_ && (<Blockly.BlockSvg>this.sourceBlock_).rendered) {
+            (<Blockly.BlockSvg>this.sourceBlock_).render();
            this.sourceBlock_.bumpNeighbours_();
        }
    }
@ -244,7 +244,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            return 0;
        }

-        var addedWidth = 0;
+        let addedWidth = 0;
        if (this.sourceBlock_.RTL) {
            (this as any).arrow2X_ = (this as any).arrowSize_ - (Blockly.BlockSvg as any).DROPDOWN_ARROW_PADDING;
            addedWidth = (this as any).arrowSize_ + (Blockly.BlockSvg as any).DROPDOWN_ARROW_PADDING;
@ -263,10 +263,10 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        return addedWidth;
    };

-    updateWidth() {
+    updateSize_() {
        // Calculate width of field
-        var width = Blockly.Field.getCachedWidth(this.textElement_);
-        var width2 = Blockly.Field.getCachedWidth(this.textElement2_);
+        let width = Blockly.Field.getCachedWidth(this.textElement_);
+        let width2 = Blockly.Field.getCachedWidth(this.textElement2_);

        // Add padding to left and right of text.
        if (this.EDITABLE) {
@ -311,15 +311,15 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC

            // First dropdown
            // Use one of the following options, medium motor, large motor or large motors (translated)
-            const textNode1 = document.createTextNode(this.getFirstValueI11n(this.value_));
+            const textNode1 = document.createTextNode(this.getFirstValueI11n(<string>this.value_));
            this.textElement_.appendChild(textNode1);

            // Second dropdown, no need to translate. Only port numbers
            if (this.textElement2_) {
-                const textNode2 = document.createTextNode(this.getSecondValue(this.value_));
+                const textNode2 = document.createTextNode(this.getSecondValue(<string>this.value_));
                this.textElement2_.appendChild(textNode2);
            }
-            this.updateWidth();
+            this.updateSize_();

            // Update text centering, based on newly calculated width.
            let centerTextX = ((this as any).width1 - this.arrowWidth_) / 2;
@ -347,8 +347,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            }

            // Apply new text element x position.
-            var width = Blockly.Field.getCachedWidth(this.textElement_);
-            var newX = centerTextX - width / 2;
+            let width = Blockly.Field.getCachedWidth(this.textElement_);
+            let newX = centerTextX - width / 2;
            this.textElement_.setAttribute('x', `${newX}`);

            // Update text centering, based on newly calculated width.
@ -377,8 +377,8 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            }

            // Apply new text element x position.
-            var width2 = Blockly.Field.getCachedWidth(this.textElement2_);
-            var newX2 = centerTextX2 - width2 / 2;
+            let width2 = Blockly.Field.getCachedWidth(this.textElement2_);
+            let newX2 = centerTextX2 - width2 / 2;
            this.textElement2_.setAttribute('x', `${newX2 + (this as any).width1 + Blockly.BlockSvg.BOX_FIELD_PADDING}`);
        }

@ -401,7 +401,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        if (Blockly.DropDownDiv.hideIfOwner(this)) {
            return;
        }
-        this.isFirst_ = e.clientX - this.getScaledBBox_().left < ((this as any).width1 * this.sourceBlock_.workspace.scale);
+        this.isFirst_ = e.clientX - this.getScaledBBox_().left < ((this as any).width1 * (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale);
        // If there is an existing drop-down someone else owns, hide it immediately and clear it.
        Blockly.DropDownDiv.hideWithoutAnimation();
        Blockly.DropDownDiv.clearContent();
@ -411,14 +411,14 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        // Accessibility properties
        contentDiv.setAttribute('role', 'menu');
        contentDiv.setAttribute('aria-haspopup', 'true');
-        let options = this.getOptions();
+        const foptions = this.getOptions(); // [img info, text]

        let opts = {};
        let conts = {};
        let vals = {};
        // Go through all option values and split them into groups
-        for (let opt = 0; opt < options.length; opt++) {
-            const value = options[opt][1];
+        for (let opt = 0; opt < foptions.length; opt++) {
+            const value = foptions[opt][1];
            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);
@ -429,13 +429,14 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
            if (!opts[key]) opts[key] = [];
            opts[key].push(portValue);

-            conts[text] = options[opt][0];
+            conts[text] = foptions[opt][0];
            vals[text] = value;
        }

-        const currentFirst = this.getFirstValue(this.value_);
-        const currentSecond = this.getSecondValue(this.value_);
+        const currentFirst = this.getFirstValue(<string>this.value_);
+        //const currentSecond = this.getSecondValue(<string>this.value_);

+        let options: string[];
        if (!this.isFirst_) {
            options = opts[currentFirst];
        } else {
@ -526,7 +527,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        Blockly.DropDownDiv.setColour(this.backgroundColour_, this.borderColour_);

        // Calculate positioning based on the field position.
-        let scale = this.sourceBlock_.workspace.scale;
+        let scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
        let width = this.isFirst_ ? (this as any).width1 : (this as any).width2;
        let bBox = { width: this.size_.width, height: this.size_.height };
        width *= scale;
@ -538,7 +539,7 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
        let secondaryX = primaryX;
        let secondaryY = position.top;
        // Set bounds to workspace; show the drop-down.
-        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
            this.onHide_.bind(this));

@ -561,10 +562,11 @@ export class FieldMotors extends Blockly.FieldDropdown implements Blockly.FieldC
     * Callback for when the drop-down is hidden.
     */
    protected onHide_() {
-        Blockly.DropDownDiv.content_.removeAttribute('role');
-        Blockly.DropDownDiv.content_.removeAttribute('aria-haspopup');
-        Blockly.DropDownDiv.content_.removeAttribute('aria-activedescendant');
-        Blockly.DropDownDiv.getContentDiv().style.width = '';
+        const content = Blockly.DropDownDiv.getContentDiv();
+        content.removeAttribute('role');
+        content.removeAttribute('aria-haspopup');
+        content.removeAttribute('aria-activedescendant');
+        (content as HTMLElement).style.width = '';
        if (this.isFirst_ && this.box_) {
            this.box_.setAttribute('fill', this.sourceBlock_.getColour());
        } else if (!this.isFirst_ && this.box2_) {
--- a/fieldeditors/field_music.ts
+++ b/fieldeditors/field_music.ts
@ -26,7 +26,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
        this.width_ = parseInt(options.width) || 380;

        this.setText = Blockly.FieldDropdown.prototype.setText;
-        this.updateWidth = (Blockly.Field as any).prototype.updateWidth;
+        this.updateSize_ = (Blockly.Field as any).prototype.updateSize_;
        this.updateTextNode_ = Blockly.Field.prototype.updateTextNode_;

        if (!pxt.BrowserUtils.isIE() && !soundCache) {
@ -78,14 +78,14 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
        contentDiv.style.width = (this as any).width_ + 'px';
        contentDiv.style.cssFloat = 'left';

-        dropdownDiv.style.maxHeight = `410px`;
+        (dropdownDiv as HTMLElement).style.maxHeight = `410px`;
        dropdownDiv.appendChild(categoriesDiv);
        dropdownDiv.appendChild(contentDiv);

        Blockly.DropDownDiv.setColour(this.sourceBlock_.getColour(), this.sourceBlock_.getColourTertiary());

        // Calculate positioning based on the field position.
-        let scale = this.sourceBlock_.workspace.scale;
+        let scale = (<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).scale;
        let bBox = { width: this.size_.width, height: this.size_.height };
        bBox.width *= scale;
        bBox.height *= scale;
@ -95,7 +95,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC
        let secondaryX = primaryX;
        let secondaryY = position.top;
        // Set bounds to workspace; show the drop-down.
-        (Blockly.DropDownDiv as any).setBoundsElement(this.sourceBlock_.workspace.getParentSvg().parentNode);
+        (Blockly.DropDownDiv as any).setBoundsElement((<Blockly.WorkspaceSvg>this.sourceBlock_.workspace).getParentSvg().parentNode);
        (Blockly.DropDownDiv as any).show(this, primaryX, primaryY, secondaryX, secondaryY,
            this.onHide_.bind(this));

@ -236,7 +236,7 @@ export class FieldMusic extends pxtblockly.FieldImages implements Blockly.FieldC

    protected onHide_() {
        super.onHide_();
-        Blockly.DropDownDiv.getContentDiv().style.maxHeight = '';
+        (Blockly.DropDownDiv.getContentDiv() as HTMLElement).style.maxHeight = '';
        this.stopSounds();
    }

--- a/fieldeditors/field_ports.ts
+++ b/fieldeditors/field_ports.ts
@ -17,7 +17,7 @@ export class FieldPorts extends pxtblockly.FieldImages implements Blockly.FieldC
        this.width_ = parseInt(options.width) || 300;

        this.setText = Blockly.FieldDropdown.prototype.setText;
-        this.updateWidth = (Blockly.Field as any).prototype.updateWidth;
+        this.updateSize_ = (Blockly.Field as any).prototype.updateSize_;
        this.updateTextNode_ = Blockly.Field.prototype.updateTextNode_;
    }

--- a/fieldeditors/field_speed.ts
+++ b/fieldeditors/field_speed.ts
@ -1,98 +0,0 @@
-/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
-/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
-
-export interface FieldSpeedOptions extends Blockly.FieldCustomOptions {
-    min?: string;
-    max?: string;
-    label?: string;
-}
-
-export class FieldSpeed extends Blockly.FieldSlider implements Blockly.FieldCustom {
-    public isFieldCustom_ = true;
-
-    private params: any;
-
-    private speedSVG: SVGElement;
-    private circleBar: SVGCircleElement;
-    private reporter: SVGTextElement;
-
-    /**
-     * Class for a color wheel field.
-     * @param {number|string} value The initial content of the field.
-     * @param {Function=} opt_validator An optional function that is called
-     *     to validate any constraints on what the user entered.  Takes the new
-     *     text as an argument and returns either the accepted text, a replacement
-     *     text, or null to abort the change.
-     * @extends {Blockly.FieldNumber}
-     * @constructor
-     */
-    constructor(value_: any, params: FieldSpeedOptions, opt_validator?: Function) {
-        super(String(value_), '-100', '100', null, '10', 'Speed', opt_validator);
-        this.params = params;
-        if (this.params['min']) this.min_ = parseFloat(this.params.min);
-        if (this.params['max']) this.max_ = parseFloat(this.params.max);
-        if (this.params['label']) this.labelText_ = this.params.label;
-
-        (this as any).sliderColor_ = '#a8aaa8';
-    }
-
-    createLabelDom_(labelText: string) {
-        var labelContainer = document.createElement('div');
-        this.speedSVG = document.createElementNS("http://www.w3.org/2000/svg", "svg") as SVGGElement;
-        pxsim.svg.hydrate(this.speedSVG, {
-            viewBox: "0 0 200 100",
-            width: "170"
-        });
-
-        labelContainer.appendChild(this.speedSVG);
-
-        const outerCircle = pxsim.svg.child(this.speedSVG, "circle", {
-            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
-            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
-            'stroke': '#a8aaa8', 'stroke-width': '1rem'
-        }) as SVGCircleElement;
-        this.circleBar = pxsim.svg.child(this.speedSVG, "circle", {
-            'stroke-dasharray': '565.48', 'stroke-dashoffset': '0',
-            'cx': 100, 'cy': 100, 'r': '90', 'style': `fill:transparent; transition: stroke-dashoffset 0.1s linear;`,
-            'stroke': '#f12a21', 'stroke-width': '1rem'
-        }) as SVGCircleElement;
-
-        this.reporter = pxsim.svg.child(this.speedSVG, "text", {
-            'x': 100, 'y': 80,
-            'text-anchor': 'middle', 'dominant-baseline': 'middle',
-            'style': 'font-size: 50px',
-            'class': 'sim-text inverted number'
-        }) as SVGTextElement;
-
-        // labelContainer.setAttribute('class', 'blocklyFieldSliderLabel');
-        var readout = document.createElement('span');
-        readout.setAttribute('class', 'blocklyFieldSliderReadout');
-        // var label = document.createElement('span');
-        // label.setAttribute('class', 'blocklyFieldSliderLabelText');
-        // label.innerHTML = labelText;
-        // labelContainer.appendChild(label);
-        // labelContainer.appendChild(readout);
-        return [labelContainer, readout];
-    };
-
-    setReadout_(readout: Element, value: string) {
-        let x = parseFloat(value) || 0;
-        this.updateSpeed(x);
-        // Update reporter
-        this.reporter.textContent = `${x}%`;
-    }
-
-    private updateSpeed(speed: number) {
-        let sign = this.sign(speed);
-        speed = (Math.abs(speed) / 100 * 50) + 50;
-        if (sign == -1) speed = 50 - speed;
-        let c = Math.PI * (90 * 2);
-        let pct = ((100 - speed) / 100) * c;
-        this.circleBar.setAttribute('stroke-dashoffset', `${pct}`);
-    }
-
-    // A re-implementation of Math.sign (since IE11 doesn't support it)
-    private sign(num: number) {
-        return num ? num < 0 ? -1 : 1 : 0;
-    }
-}
--- a/fieldeditors/field_turnratio.ts
+++ b/fieldeditors/field_turnratio.ts
@ -1,108 +0,0 @@
-/// <reference path="../node_modules/pxt-core/localtypings/blockly.d.ts"/>
-/// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
-
-export interface FieldTurnRatioOptions extends Blockly.FieldCustomOptions {
-}
-
-export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.FieldCustom {
-    public isFieldCustom_ = true;
-
-    private params: any;
-
-    private path_: SVGPathElement;
-    private reporter_: SVGTextElement;
-
-    /**
-     * Class for a color wheel field.
-     * @param {number|string} value The initial content of the field.
-     * @param {Function=} opt_validator An optional function that is called
-     *     to validate any constraints on what the user entered.  Takes the new
-     *     text as an argument and returns either the accepted text, a replacement
-     *     text, or null to abort the change.
-     * @extends {Blockly.FieldNumber}
-     * @constructor
-     */
-    constructor(value_: any, params: FieldTurnRatioOptions, opt_validator?: Function) {
-        super(String(value_), '-200', '200', null, '10', 'TurnRatio', opt_validator);
-        this.params = params;
-        (this as any).sliderColor_ = '#a8aaa8';
-    }
-
-    static HALF = 80;
-    static HANDLE_RADIUS = 30;
-    static RADIUS = FieldTurnRatio.HALF - FieldTurnRatio.HANDLE_RADIUS - 1;
-
-    createLabelDom_(labelText: string) {
-        let labelContainer = document.createElement('div');
-        let svg = Blockly.utils.createSvgElement('svg', {
-            'xmlns': 'http://www.w3.org/2000/svg',
-            'xmlns:html': 'http://www.w3.org/1999/xhtml',
-            'xmlns:xlink': 'http://www.w3.org/1999/xlink',
-            'version': '1.1',
-            'height': (FieldTurnRatio.HALF + FieldTurnRatio.HANDLE_RADIUS + 10) + 'px',
-            'width': (FieldTurnRatio.HALF * 2) + 'px'
-        }, labelContainer);
-        let defs = Blockly.utils.createSvgElement('defs', {}, svg);
-        let marker = Blockly.utils.createSvgElement('marker', {
-            'id': 'head',
-            'orient': "auto",
-            'markerWidth': '2',
-            'markerHeight': '4',
-            'refX': '0.1', 'refY': '1.5'
-        }, defs);
-        let markerPath = Blockly.utils.createSvgElement('path', {
-            'd': 'M0,0 V3 L1.5,1.5 Z',
-            'fill': '#f12a21'
-        }, marker);
-        this.reporter_ = pxsim.svg.child(svg, "text", {
-            'x': FieldTurnRatio.HALF, 'y': 96,
-            'text-anchor': 'middle', 'dominant-baseline': 'middle',
-            'style': 'font-size: 50px',
-            'class': 'sim-text inverted number'
-        }) as SVGTextElement;
-        this.path_ = Blockly.utils.createSvgElement('path', {
-            'x1': FieldTurnRatio.HALF,
-            'y1': FieldTurnRatio.HALF,
-            'marker-end': 'url(#head)',
-            'style': 'fill: none; stroke: #f12a21; stroke-width: 10'
-        }, svg);
-        this.updateGraph_();
-        let readout = document.createElement('span');
-        readout.setAttribute('class', 'blocklyFieldSliderReadout');
-        return [labelContainer, readout];
-    };
-
-    updateGraph_() {
-        if (!this.path_) {
-            return;
-        }
-        let v = goog.math.clamp(parseFloat(this.getText()), -200, 200);
-        if (isNaN(v)) {
-            v = 0;
-        }
-        const x = v / 100;
-        const nx = Math.max(-1, Math.min(1, x));
-        const theta = Math.max(nx) * Math.PI / 2;
-        const r = FieldTurnRatio.RADIUS - 6;
-        let cx = FieldTurnRatio.HALF;
-        const cy = FieldTurnRatio.HALF - 22;
-        if (Math.abs(x) > 1) {
-            cx -= (x - (x > 0 ? 1 : -1)) * r / 2; // move center of circle
-        }
-        const alpha = 0.2 + Math.abs(nx) * 0.5;
-        const y1 = r * alpha;
-        const y2 = r * Math.sin(Math.PI / 2 - theta);
-        const x2 = r * Math.cos(Math.PI / 2 - theta);
-        const y3 = y2 - r * alpha * Math.cos(2 * theta);
-        const x3 = x2 - r * alpha * Math.sin(2 * theta);
-
-        const d = `M ${cx} ${cy} C ${cx} ${cy - y1} ${cx + x3} ${cy - y3} ${cx + x2} ${cy - y2}`;
-        this.path_.setAttribute('d', d);
-
-        this.reporter_.textContent = `${v}`;
-    }
-
-    setReadout_(readout: Element, value: string) {
-        this.updateGraph_();
-    }
-}
--- a/libs/base/enums.d.ts
+++ b/libs/base/enums.d.ts
@ -22,13 +22,8 @@
    }


-    declare const enum ValType {
-    Undefined = 0,
-    Boolean = 1,
-    Number = 2,
-    String = 3,
-    Object = 4,
-    Function = 5,
+    declare const enum PerfCounters {
+    GC = 0,
    }

 // Auto-generated. Do not edit. Really.
--- a/libs/base/shims.d.ts
+++ b/libs/base/shims.d.ts
@ -4,6 +4,18 @@

    //% indexerGet=BufferMethods::getByte indexerSet=BufferMethods::setByte
 declare interface Buffer {
+    /**
+     * Reads an unsigned byte at a particular location
+     */
+    //% shim=BufferMethods::getUint8
+    getUint8(off: int32): int32;
+
+    /**
+     * Writes an unsigned byte at a particular location
+     */
+    //% shim=BufferMethods::setUint8
+    setUint8(off: int32, v: int32): void;
+
    /**
     * Write a number in specified format in the buffer.
     */
@ -42,6 +54,12 @@ declare interface Buffer {
    //% start.defl=0 length.defl=-1 shim=BufferMethods::shift
    shift(offset: int32, start?: int32, length?: int32): void;

+    /**
+     * Convert a buffer to string assuming UTF8 encoding
+     */
+    //% shim=BufferMethods::toString
+    toString(): string;
+
    /**
     * Convert a buffer to its hexadecimal representation.
     */
@ -72,6 +90,13 @@ declare namespace control {
     */
    //% shim=control::createBuffer
    function createBuffer(size: int32): Buffer;
+
+    /**
+     * Create a new buffer with UTF8-encoded string
+     * @param str the string to put in the buffer
+     */
+    //% shim=control::createBufferFromUTF8
+    function createBufferFromUTF8(str: string): Buffer;
 }
 declare namespace loops {

@ -101,6 +126,12 @@ declare namespace control {
    //% blockId=control_running_time block="millis (ms)" shim=control::millis
    function millis(): int32;

+    /**
+     * Gets current time in microseconds. Overflows every ~18 minutes.
+     */
+    //% shim=control::micros
+    function micros(): int32;
+
    /**
     * Used internally
     */
@ -143,11 +174,54 @@ declare namespace control {
    //% help=control/device-serial-number shim=control::deviceSerialNumber
    function deviceSerialNumber(): int32;

+    /**
+     * Derive a unique, consistent 64-bit serial number of this device from internal data.
+     */
+    //% blockId="control_device_long_serial_number" block="device long serial number" weight=9
+    //% help=control/device-long-serial-number shim=control::deviceLongSerialNumber
+    function deviceLongSerialNumber(): Buffer;
+
    /**
     *
     */
    //% shim=control::__log
-    function __log(text: string): void;
+    function __log(prority: int32, text: string): void;
+
+    /**
+     * Dump internal information about a value.
+     */
+    //% shim=control::dmesgValue
+    function dmesgValue(v: any): void;
+
+    /**
+     * Force GC and dump basic information about heap.
+     */
+    //% shim=control::gc
+    function gc(): void;
+
+    /**
+     * Force GC and halt waiting for debugger to do a full heap dump.
+     */
+    //% shim=control::heapDump
+    function heapDump(): void;
+
+    /**
+     * Set flags used when connecting an external debugger.
+     */
+    //% shim=control::setDebugFlags
+    function setDebugFlags(flags: int32): void;
+
+    /**
+     * Record a heap snapshot to debug memory leaks.
+     */
+    //% shim=control::heapSnapshot
+    function heapSnapshot(): void;
+
+    /**
+     * Return true if profiling is enabled in the current build.
+     */
+    //% shim=control::profilingEnabled
+    function profilingEnabled(): boolean;
 }

 // Auto-generated. Do not edit. Really.
--- a/libs/color-sensor/color.ts
+++ b/libs/color-sensor/color.ts
@ -1,5 +1,4 @@
 const enum ColorSensorMode {
-    None = 0,
    //% block="reflected light intensity"
    ReflectedLightIntensity = 0,
    //% block="ambient light intensity"
@ -59,7 +58,6 @@ namespace sensors {

        constructor(port: number) {
            super(port)
-            this._setMode(ColorSensorMode.None);
            this.thresholdDetector = new sensors.ThresholdDetector(this.id());
            this.calibrating = false;
        }
@ -73,13 +71,7 @@ namespace sensors {
        }

        setMode(m: ColorSensorMode) {
-            if (m == ColorSensorMode.AmbientLightIntensity) {
-                this.thresholdDetector.setLowThreshold(5);
-                this.thresholdDetector.setHighThreshold(20);
-            } else {
-                this.thresholdDetector.setLowThreshold(20);
-                this.thresholdDetector.setHighThreshold(80);
-            }
+            // don't change threshold after initialization
            this._setMode(m)
        }

@ -187,6 +179,22 @@ namespace sensors {
            return this.getNumber(NumberFormat.UInt8LE, 0)
        }

+        /**
+         * Checks the color is being detected
+         * @param color the color to detect
+         */
+        //% help=sensors/color-sensor/is-color-detected
+        //% block="is **color sensor** %this|detected|%color=colorEnumPicker"
+        //% blockId=colorisColorDetectedDetected
+        //% parts="colorsensor"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% weight=99 blockGap=8
+        //% group="Color Sensor"
+        isColorDetected(color: number) {
+            return this.color() == color;
+        }
+
        /**
         * Get the current raw rgb values as an array from the color sensor.
         * @param sensor the color sensor to query the request
--- a/libs/color-sensor/docs/reference/sensors/color-sensor/is-color-detected.md
+++ b/libs/color-sensor/docs/reference/sensors/color-sensor/is-color-detected.md
@ -0,0 +1,30 @@
+# Is Color Detected
+
+Checks the color is detected
+
+```sig
+let b = sensors.color1.isColorDetected(ColorSensorColor.Blue)
+```
+
+The [color](/reference/sensors/color) you choose to look for is one of the colors that the sensor can detect. If you want to use colors for tracking, it's best to use a color that is the same or very close to the ones the sensor detects.
+
+## Parameters
+
+* **color**: the [color](/reference/sensors/color) to watch for.
+
+## Example
+
+Wait for the sensor to see ``blue``. Then, show an expression on the screen.
+
+```blocks
+brick.showString("Waiting for blue", 1)
+while(!sensors.color1.isColorDetected(ColorSensorColor.Blue)) {
+    pause(20)
+}
+brick.clearScreen()
+brick.showImage(images.expressionsSick)
+```
+
+## See also
+
+[on color detected](/reference/sensors/color-sensor/on-color-detected), [color](/reference/sensors/color)
--- a/libs/core/battery.ts
+++ b/libs/core/battery.ts
@ -26,6 +26,7 @@ namespace brick {
     */
    //% blockId=brickBatteryProperty block="battery %property"
    //% group="Battery"
+    //% blockGap=8
    //% help=brick/battery-property
    export function batteryInfo(property: BatteryProperty): number {
        const info = sensors.internal.getBatteryInfo();
--- a/libs/core/buttons.ts
+++ b/libs/core/buttons.ts
@ -85,7 +85,7 @@ namespace brick {
        //% blockId=buttonIsPressed
        //% parts="brick"
        //% blockNamespace=brick
-        //% weight=81 blockGap=8
+        //% weight=81
        //% group="Buttons"
        //% button.fieldEditor="brickbuttons"
        isPressed() {
--- a/libs/core/control.cpp
+++ b/libs/core/control.cpp
@ -1,40 +0,0 @@
-#include "pxt.h"
-
-namespace control {
-
-/**
- * Announce that an event happened to registered handlers.
- * @param src ID of the Component that generated the event
- * @param value Component specific code indicating the cause of the event.
- * @param mode optional definition of how the event should be processed after construction.
- */
-//% weight=21 blockGap=12 blockId="control_raise_event"
-//% block="raise event|from %src|with value %value" blockExternalInputs=1
-//% help=control/raise-event
-void raiseEvent(int src, int value) {
-    pxt::raiseEvent(src, value);
-}
-
-/**
-* Allocates the next user notification event
-*/
-//% help=control/allocate-notify-event
-int allocateNotifyEvent() {
-    return pxt::allocateNotifyEvent();
-}
-
-/** Write data to DMESG debugging buffer. */
-//%
-void dmesg(String s) {
-    DMESG("# %s", s->data);
-}
-
-}
-
-namespace serial {
-    /** Send DMESG debug buffer over serial. */
-    //%
-    void writeDmesg() {
-        pxt::dumpDmesg();
-    }
-}
--- a/libs/core/dal.d.ts
+++ b/libs/core/dal.d.ts
@ -1,6 +1,305 @@
 // Auto-generated. Do not edit.
 declare const enum DAL {
-    // built/dockermake/pxtapp/ev3const.h
+    // /pxtapp/configkeys.h
+    CFG_PIN_NAME_MSK = 65535,
+    CFG_PIN_CONFIG_MSK = 4294901760,
+    CFG_PIN_CONFIG_ACTIVE_LO = 65536,
+    CFG_MAGIC0 = 513675505,
+    CFG_MAGIC1 = 539130489,
+    CFG_PIN_ACCELEROMETER_INT = 1,
+    CFG_PIN_ACCELEROMETER_SCL = 2,
+    CFG_PIN_ACCELEROMETER_SDA = 3,
+    CFG_PIN_BTN_A = 4,
+    CFG_PIN_BTN_B = 5,
+    CFG_PIN_BTN_SLIDE = 6,
+    CFG_PIN_DOTSTAR_CLOCK = 7,
+    CFG_PIN_DOTSTAR_DATA = 8,
+    CFG_PIN_FLASH_CS = 9,
+    CFG_PIN_FLASH_MISO = 10,
+    CFG_PIN_FLASH_MOSI = 11,
+    CFG_PIN_FLASH_SCK = 12,
+    CFG_PIN_LED = 13,
+    CFG_PIN_LIGHT = 14,
+    CFG_PIN_MICROPHONE = 15,
+    CFG_PIN_MIC_CLOCK = 16,
+    CFG_PIN_MIC_DATA = 17,
+    CFG_PIN_MISO = 18,
+    CFG_PIN_MOSI = 19,
+    CFG_PIN_NEOPIXEL = 20,
+    CFG_PIN_RX = 21,
+    CFG_PIN_RXLED = 22,
+    CFG_PIN_SCK = 23,
+    CFG_PIN_SCL = 24,
+    CFG_PIN_SDA = 25,
+    CFG_PIN_SPEAKER_AMP = 26,
+    CFG_PIN_TEMPERATURE = 27,
+    CFG_PIN_TX = 28,
+    CFG_PIN_TXLED = 29,
+    CFG_PIN_IR_OUT = 30,
+    CFG_PIN_IR_IN = 31,
+    CFG_PIN_DISPLAY_SCK = 32,
+    CFG_PIN_DISPLAY_MISO = 33,
+    CFG_PIN_DISPLAY_MOSI = 34,
+    CFG_PIN_DISPLAY_CS = 35,
+    CFG_PIN_DISPLAY_DC = 36,
+    CFG_DISPLAY_WIDTH = 37,
+    CFG_DISPLAY_HEIGHT = 38,
+    CFG_DISPLAY_CFG0 = 39,
+    CFG_DISPLAY_CFG1 = 40,
+    CFG_DISPLAY_CFG2 = 41,
+    CFG_DISPLAY_CFG3 = 42,
+    CFG_PIN_DISPLAY_RST = 43,
+    CFG_PIN_DISPLAY_BL = 44,
+    CFG_PIN_SERVO_1 = 45,
+    CFG_PIN_SERVO_2 = 46,
+    CFG_PIN_BTN_LEFT = 47,
+    CFG_PIN_BTN_RIGHT = 48,
+    CFG_PIN_BTN_UP = 49,
+    CFG_PIN_BTN_DOWN = 50,
+    CFG_PIN_BTN_MENU = 51,
+    CFG_PIN_LED_R = 52,
+    CFG_PIN_LED_G = 53,
+    CFG_PIN_LED_B = 54,
+    CFG_PIN_LED1 = 55,
+    CFG_PIN_LED2 = 56,
+    CFG_PIN_LED3 = 57,
+    CFG_PIN_LED4 = 58,
+    CFG_SPEAKER_VOLUME = 59,
+    CFG_PIN_JACK_TX = 60,
+    CFG_PIN_JACK_SENSE = 61,
+    CFG_PIN_JACK_HPEN = 62,
+    CFG_PIN_JACK_BZEN = 63,
+    CFG_PIN_JACK_PWREN = 64,
+    CFG_PIN_JACK_SND = 65,
+    CFG_PIN_JACK_BUSLED = 66,
+    CFG_PIN_JACK_COMMLED = 67,
+    CFG_PIN_BTN_SOFT_RESET = 69,
+    CFG_ACCELEROMETER_TYPE = 70,
+    CFG_PIN_BTNMX_LATCH = 71,
+    CFG_PIN_BTNMX_CLOCK = 72,
+    CFG_PIN_BTNMX_DATA = 73,
+    CFG_PIN_BTN_MENU2 = 74,
+    CFG_PIN_BATTSENSE = 75,
+    CFG_PIN_VIBRATION = 76,
+    CFG_PIN_PWREN = 77,
+    CFG_DISPLAY_TYPE = 78,
+    CFG_PIN_ROTARY_ENCODER_A = 79,
+    CFG_PIN_ROTARY_ENCODER_B = 80,
+    CFG_ACCELEROMETER_SPACE = 81,
+    CFG_PIN_WIFI_MOSI = 82,
+    CFG_PIN_WIFI_MISO = 83,
+    CFG_PIN_WIFI_SCK = 84,
+    CFG_PIN_WIFI_TX = 85,
+    CFG_PIN_WIFI_RX = 86,
+    CFG_PIN_WIFI_CS = 87,
+    CFG_PIN_WIFI_BUSY = 88,
+    CFG_PIN_WIFI_RESET = 89,
+    CFG_PIN_WIFI_GPIO0 = 90,
+    CFG_PIN_WIFI_AT_TX = 91,
+    CFG_PIN_WIFI_AT_RX = 92,
+    CFG_PIN_USB_POWER = 93,
+    ACCELEROMETER_TYPE_LIS3DH = 50,
+    ACCELEROMETER_TYPE_LIS3DH_ALT = 48,
+    ACCELEROMETER_TYPE_MMA8453 = 56,
+    ACCELEROMETER_TYPE_FXOS8700 = 60,
+    ACCELEROMETER_TYPE_MMA8653 = 58,
+    ACCELEROMETER_TYPE_MSA300 = 76,
+    ACCELEROMETER_TYPE_MPU6050 = 104,
+    DISPLAY_TYPE_ST7735 = 7735,
+    DISPLAY_TYPE_ILI9341 = 9341,
+    CFG_PIN_A0 = 100,
+    CFG_PIN_A1 = 101,
+    CFG_PIN_A2 = 102,
+    CFG_PIN_A3 = 103,
+    CFG_PIN_A4 = 104,
+    CFG_PIN_A5 = 105,
+    CFG_PIN_A6 = 106,
+    CFG_PIN_A7 = 107,
+    CFG_PIN_A8 = 108,
+    CFG_PIN_A9 = 109,
+    CFG_PIN_A10 = 110,
+    CFG_PIN_A11 = 111,
+    CFG_PIN_A12 = 112,
+    CFG_PIN_A13 = 113,
+    CFG_PIN_A14 = 114,
+    CFG_PIN_A15 = 115,
+    CFG_PIN_A16 = 116,
+    CFG_PIN_A17 = 117,
+    CFG_PIN_A18 = 118,
+    CFG_PIN_A19 = 119,
+    CFG_PIN_A20 = 120,
+    CFG_PIN_A21 = 121,
+    CFG_PIN_A22 = 122,
+    CFG_PIN_A23 = 123,
+    CFG_PIN_A24 = 124,
+    CFG_PIN_A25 = 125,
+    CFG_PIN_A26 = 126,
+    CFG_PIN_A27 = 127,
+    CFG_PIN_A28 = 128,
+    CFG_PIN_A29 = 129,
+    CFG_PIN_A30 = 130,
+    CFG_PIN_A31 = 131,
+    CFG_PIN_D0 = 150,
+    CFG_PIN_D1 = 151,
+    CFG_PIN_D2 = 152,
+    CFG_PIN_D3 = 153,
+    CFG_PIN_D4 = 154,
+    CFG_PIN_D5 = 155,
+    CFG_PIN_D6 = 156,
+    CFG_PIN_D7 = 157,
+    CFG_PIN_D8 = 158,
+    CFG_PIN_D9 = 159,
+    CFG_PIN_D10 = 160,
+    CFG_PIN_D11 = 161,
+    CFG_PIN_D12 = 162,
+    CFG_PIN_D13 = 163,
+    CFG_PIN_D14 = 164,
+    CFG_PIN_D15 = 165,
+    CFG_PIN_D16 = 166,
+    CFG_PIN_D17 = 167,
+    CFG_PIN_D18 = 168,
+    CFG_PIN_D19 = 169,
+    CFG_PIN_D20 = 170,
+    CFG_PIN_D21 = 171,
+    CFG_PIN_D22 = 172,
+    CFG_PIN_D23 = 173,
+    CFG_PIN_D24 = 174,
+    CFG_PIN_D25 = 175,
+    CFG_PIN_D26 = 176,
+    CFG_PIN_D27 = 177,
+    CFG_PIN_D28 = 178,
+    CFG_PIN_D29 = 179,
+    CFG_PIN_D30 = 180,
+    CFG_PIN_D31 = 181,
+    CFG_NUM_NEOPIXELS = 200,
+    CFG_NUM_DOTSTARS = 201,
+    CFG_DEFAULT_BUTTON_MODE = 202,
+    CFG_SWD_ENABLED = 203,
+    CFG_FLASH_BYTES = 204,
+    CFG_RAM_BYTES = 205,
+    CFG_SYSTEM_HEAP_BYTES = 206,
+    CFG_LOW_MEM_SIMULATION_KB = 207,
+    CFG_BOOTLOADER_BOARD_ID = 208,
+    CFG_UF2_FAMILY = 209,
+    CFG_PINS_PORT_SIZE = 210,
+    CFG_BOOTLOADER_PROTECTION = 211,
+    CFG_POWER_DEEPSLEEP_TIMEOUT = 212,
+    CFG_ANALOG_BUTTON_THRESHOLD = 213,
+    CFG_CPU_MHZ = 214,
+    CFG_CONTROLLER_LIGHT_MAX_BRIGHTNESS = 215,
+    CFG_PIN_B0 = 300,
+    CFG_PIN_B1 = 301,
+    CFG_PIN_B2 = 302,
+    CFG_PIN_B3 = 303,
+    CFG_PIN_B4 = 304,
+    CFG_PIN_B5 = 305,
+    CFG_PIN_B6 = 306,
+    CFG_PIN_B7 = 307,
+    CFG_PIN_B8 = 308,
+    CFG_PIN_B9 = 309,
+    CFG_PIN_B10 = 310,
+    CFG_PIN_B11 = 311,
+    CFG_PIN_B12 = 312,
+    CFG_PIN_B13 = 313,
+    CFG_PIN_B14 = 314,
+    CFG_PIN_B15 = 315,
+    CFG_PIN_B16 = 316,
+    CFG_PIN_B17 = 317,
+    CFG_PIN_B18 = 318,
+    CFG_PIN_B19 = 319,
+    CFG_PIN_B20 = 320,
+    CFG_PIN_B21 = 321,
+    CFG_PIN_B22 = 322,
+    CFG_PIN_B23 = 323,
+    CFG_PIN_B24 = 324,
+    CFG_PIN_B25 = 325,
+    CFG_PIN_B26 = 326,
+    CFG_PIN_B27 = 327,
+    CFG_PIN_B28 = 328,
+    CFG_PIN_B29 = 329,
+    CFG_PIN_B30 = 330,
+    CFG_PIN_B31 = 331,
+    CFG_PIN_C0 = 350,
+    CFG_PIN_C1 = 351,
+    CFG_PIN_C2 = 352,
+    CFG_PIN_C3 = 353,
+    CFG_PIN_C4 = 354,
+    CFG_PIN_C5 = 355,
+    CFG_PIN_C6 = 356,
+    CFG_PIN_C7 = 357,
+    CFG_PIN_C8 = 358,
+    CFG_PIN_C9 = 359,
+    CFG_PIN_C10 = 360,
+    CFG_PIN_C11 = 361,
+    CFG_PIN_C12 = 362,
+    CFG_PIN_C13 = 363,
+    CFG_PIN_C14 = 364,
+    CFG_PIN_C15 = 365,
+    CFG_PIN_C16 = 366,
+    CFG_PIN_C17 = 367,
+    CFG_PIN_C18 = 368,
+    CFG_PIN_C19 = 369,
+    CFG_PIN_C20 = 370,
+    CFG_PIN_C21 = 371,
+    CFG_PIN_C22 = 372,
+    CFG_PIN_C23 = 373,
+    CFG_PIN_C24 = 374,
+    CFG_PIN_C25 = 375,
+    CFG_PIN_C26 = 376,
+    CFG_PIN_C27 = 377,
+    CFG_PIN_C28 = 378,
+    CFG_PIN_C29 = 379,
+    CFG_PIN_C30 = 380,
+    CFG_PIN_C31 = 381,
+    CFG_PIN_P0 = 400,
+    CFG_PIN_P1 = 401,
+    CFG_PIN_P2 = 402,
+    CFG_PIN_P3 = 403,
+    CFG_PIN_P4 = 404,
+    CFG_PIN_P5 = 405,
+    CFG_PIN_P6 = 406,
+    CFG_PIN_P7 = 407,
+    CFG_PIN_P8 = 408,
+    CFG_PIN_P9 = 409,
+    CFG_PIN_P10 = 410,
+    CFG_PIN_P11 = 411,
+    CFG_PIN_P12 = 412,
+    CFG_PIN_P13 = 413,
+    CFG_PIN_P14 = 414,
+    CFG_PIN_P15 = 415,
+    CFG_PIN_P16 = 416,
+    CFG_PIN_P17 = 417,
+    CFG_PIN_P18 = 418,
+    CFG_PIN_P19 = 419,
+    CFG_PIN_P20 = 420,
+    CFG_PIN_P21 = 421,
+    CFG_PIN_P22 = 422,
+    CFG_PIN_P23 = 423,
+    CFG_PIN_P24 = 424,
+    CFG_PIN_P25 = 425,
+    CFG_PIN_P26 = 426,
+    CFG_PIN_P27 = 427,
+    CFG_PIN_P28 = 428,
+    CFG_PIN_P29 = 429,
+    CFG_PIN_P30 = 430,
+    CFG_PIN_P31 = 431,
+    CFG_PIN_LORA_MISO = 1001,
+    CFG_PIN_LORA_MOSI = 1002,
+    CFG_PIN_LORA_SCK = 1003,
+    CFG_PIN_LORA_CS = 1004,
+    CFG_PIN_LORA_BOOT = 1005,
+    CFG_PIN_LORA_RESET = 1006,
+    CFG_PIN_IRRXLED = 1007,
+    CFG_PIN_IRTXLED = 1008,
+    CFG_PIN_LCD_RESET = 1009,
+    CFG_PIN_LCD_ENABLE = 1010,
+    CFG_PIN_LCD_DATALINE4 = 1011,
+    CFG_PIN_LCD_DATALINE5 = 1012,
+    CFG_PIN_LCD_DATALINE6 = 1013,
+    CFG_PIN_LCD_DATALINE7 = 1014,
+    CFG_NUM_LCD_COLUMNS = 1015,
+    CFG_NUM_LCD_ROWS = 1016,
+    // /pxtapp/ev3const.h
    NUM_INPUTS = 4,
    NUM_OUTPUTS = 4,
    LCD_WIDTH = 178,
@ -46,44 +345,66 @@ declare const enum DAL {
    CONN_OUTPUT_TACHO = 125,
    CONN_NONE = 126,
    CONN_ERROR = 127,
-    opProgramStart = 0x03,
-    opOutputGetType = 0xA0,
-    opOutputSetType = 0xA1,
-    opOutputReset = 0xA2,
-    opOutputStop = 0xA3,
-    opOutputPower = 0xA4,
-    opOutputSpeed = 0xA5,
-    opOutputStart = 0xA6,
-    opOutputPolarity = 0xA7,
-    opOutputRead = 0xA8,
-    opOutputTest = 0xA9,
-    opOutputReady = 0xAA,
-    opOutputPosition = 0xAB,
-    opOutputStepPower = 0xAC,
-    opOutputTimePower = 0xAD,
-    opOutputStepSpeed = 0xAE,
-    opOutputTimeSpeed = 0xAF,
-    opOutputStepSync = 0xB0,
-    opOutputTimeSync = 0xB1,
-    opOutputClearCount = 0xB2,
-    opOutputGetCount = 0xB3,
-    opOutputProgramStop = 0xB4,
-    BUTTON_ID_UP = 0x01,
-    BUTTON_ID_ENTER = 0x02,
-    BUTTON_ID_DOWN = 0x04,
-    BUTTON_ID_RIGHT = 0x08,
-    BUTTON_ID_LEFT = 0x10,
-    BUTTON_ID_ESCAPE = 0x20,
-    // built/dockermake/pxtapp/pxt.h
+    opProgramStart = 3,
+    opOutputGetType = 160,
+    opOutputSetType = 161,
+    opOutputReset = 162,
+    opOutputStop = 163,
+    opOutputPower = 164,
+    opOutputSpeed = 165,
+    opOutputStart = 166,
+    opOutputPolarity = 167,
+    opOutputRead = 168,
+    opOutputTest = 169,
+    opOutputReady = 170,
+    opOutputPosition = 171,
+    opOutputStepPower = 172,
+    opOutputTimePower = 173,
+    opOutputStepSpeed = 174,
+    opOutputTimeSpeed = 175,
+    opOutputStepSync = 176,
+    opOutputTimeSync = 177,
+    opOutputClearCount = 178,
+    opOutputGetCount = 179,
+    opOutputProgramStop = 180,
+    BUTTON_ID_UP = 1,
+    BUTTON_ID_ENTER = 2,
+    BUTTON_ID_DOWN = 4,
+    BUTTON_ID_RIGHT = 8,
+    BUTTON_ID_LEFT = 16,
+    BUTTON_ID_ESCAPE = 32,
+    // /pxtapp/platform.h
+    PXT_GC_THREAD_LIST = 1,
+    // /pxtapp/pxt.h
    DEVICE_EVT_ANY = 0,
    DEVICE_ID_NOTIFY = 10000,
    DEVICE_ID_NOTIFY_ONE = 10001,
-    // built/dockermake/pxtapp/pxtbase.h
-    PXT_REF_TAG_STRING = 1,
-    PXT_REF_TAG_BUFFER = 2,
-    PXT_REF_TAG_IMAGE = 3,
-    PXT_REF_TAG_NUMBER = 32,
-    PXT_REF_TAG_ACTION = 33,
+    IMAGE_BITS = 1,
+    // /pxtapp/pxtbase.h
+    PXT32 = 1,
+    PXT64 = 1,
+    PXT_VTABLE_SHIFT = 2,
+    PXT_REFCNT_FLASH = 65534,
+    VTABLE_MAGIC = 249,
+    Undefined = 0,
+    Boolean = 1,
+    Number = 2,
+    String = 3,
+    Object = 4,
+    Function = 5,
+    BoxedString = 1,
+    BoxedNumber = 2,
+    BoxedBuffer = 3,
+    RefAction = 4,
+    RefImage = 5,
+    RefCollection = 6,
+    RefRefLocal = 7,
+    RefMap = 8,
+    RefMImage = 9,
+    MMap = 10,
+    User0 = 16,
+    PXT_IOS_HEAP_ALLOC_BITS = 20,
+    IMAGE_HEADER_MAGIC = 135,
    Int8LE = 1,
    UInt8LE = 2,
    Int16LE = 3,
@ -100,12 +421,10 @@ declare const enum DAL {
    Float64LE = 14,
    Float32BE = 15,
    Float64BE = 16,
-    Undefined = 0,
-    Boolean = 1,
-    Number = 2,
-    String = 3,
-    Object = 4,
-    Function = 5,
-    // built/dockermake/pxtapp/pxtconfig.h
-    // built/dockermake/pxtapp/pxtcore.h
+    NUM_TRY_FRAME_REGS = 3,
+    GC = 0,
+    // /pxtapp/pxtconfig.h
+    PXT_GC = 1,
+    // /pxtapp/pxtcore.h
+    PXT_HARD_FLOAT = 1,
 }
--- a/libs/core/input.ts
+++ b/libs/core/input.ts
@ -87,7 +87,7 @@ namespace sensors.internal {
            this.devType = DAL.DEVICE_TYPE_NONE
            this.iicid = ''
            this.sensors = []
-            this.poller = new Poller(50, () => this.query(), (prev, curr) => this.update(prev, curr));
+            this.poller = new Poller(25, () => this.query(), (prev, curr) => this.update(prev, curr));
        }

        poke() {
@ -121,10 +121,9 @@ namespace sensors.internal {

        powerMM = control.mmap("/dev/lms_power", 2, 0)

-        devPoller = new Poller(500, () => { return hashDevices(); },
-            (prev, curr) => {
-                detectDevices();
-            });
+        devPoller = new Poller(500,
+            () => { return hashDevices(); },
+            (prev, curr) => { detectDevices(); });
    }

    export function getActiveSensors(): Sensor[] {
@ -208,12 +207,14 @@ namespace sensors.internal {
        }
    }

-    export function getBatteryInfo(): {
+    export interface BatteryInfo {
        level: number;
        Ibatt: number,
        Vbatt: number,
        Imotor: number
-    } {
+    }
+
+    export function getBatteryInfo(): BatteryInfo {
        init();
        if (!batteryInfo) updateBatteryInfo();
        const CinCnt = batteryInfo.CinCnt;
@ -275,22 +276,25 @@ void      cUiUpdatePower(void)
        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]);
+            r = conns[i] + (r << 6) + (r << 16) - r;
        }
        return r;
    }

    let nonActivated = 0;
    function detectDevices() {
-        //control.dmesg(`detect devices (${nonActivated} na)`)
+        control.dmesg(`detect devices (hash ${hashDevices()})`)
        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}`)
+            if (newConn == sensorInfo.connType
+                && sensorInfo.sensor
+                && sensorInfo.sensor.isActive()) {
+                if (newConn == DAL.CONN_INPUT_UART)
+                    uartSensors.push(sensorInfo);
                continue;
            }
            numChanged++
@ -321,7 +325,8 @@ void      cUiUpdatePower(void)
            for (const sensorInfo of uartSensors) {
                let uinfo = readUartInfo(sensorInfo.port, 0)
                sensorInfo.devType = uinfo[TypesOff.Type]
-                control.dmesg(`UART type ${sensorInfo.devType}`)
+                const mode = uinfo[TypesOff.Mode];
+                control.dmesg(`UART type ${sensorInfo.devType} mode ${mode}`)
            }
        }

@ -425,11 +430,11 @@ void      cUiUpdatePower(void)
        constructor(port: number) {
            super(port)
            this.mode = 0
-            this.realmode = 0
+            this.realmode = -1
        }

        _activated() {
-            this.realmode = 0
+            this.realmode = -1
            this._setMode(this.mode)
        }

@ -456,7 +461,7 @@ void      cUiUpdatePower(void)

        reset() {
            if (this.isActive()) uartReset(this._port);
-            this.realmode = 0;
+            this.realmode = -1;
        }
    }

@ -534,8 +539,6 @@ void      cUiUpdatePower(void)

    function uartClearChange(port: number) {
        control.dmesg(`UART clear change`);
-        const UART_DATA_READY = 8
-        const UART_PORT_CHANGED = 1
        while (true) {
            let status = getUartStatus(port)
            if (port < 0) break
@ -556,7 +559,7 @@ void      cUiUpdatePower(void)
    }

    function setUartModes() {
-        control.dmesg(`UART set modes`)
+        control.dmesg(`UART set modes 0x${devcon.toHex()}`)
        uartMM.ioctl(IO.UART_SET_CONN, devcon)
        const ports: number[] = [];
        for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
@ -568,22 +571,26 @@ void      cUiUpdatePower(void)
        while (ports.length) {
            const port = ports.pop();
            const status = waitNonZeroUartStatus(port)
-            control.dmesg(`UART set mode ${status} at ${port}`);
+            control.dmesg(`UART status ${status} at ${port}`);
+            if (!(status & UART_DATA_READY))
+                setUartMode(port, devcon[DevConOff.Mode + port]);
        }
    }

    function updateUartMode(port: number, mode: number) {
-        control.dmesg(`UART set mode to ${mode} at ${port}`)
+        control.dmesg(`UART update 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)
    }

+    const UART_PORT_CHANGED = 1
+    const UART_DATA_READY = 8
    function setUartMode(port: number, mode: number) {
-        const UART_PORT_CHANGED = 1
        while (true) {
            if (port < 0) return
            updateUartMode(port, mode);
+            control.dmesg(`UART set mode 0x${devcon.toHex()}`)
            uartMM.ioctl(IO.UART_SET_CONN, devcon)
            let status = waitNonZeroUartStatus(port)
            if (status & UART_PORT_CHANGED) {
@ -591,7 +598,8 @@ void      cUiUpdatePower(void)
                uartClearChange(port)
            } else {
                control.dmesg(`UART status ${status}`);
-                break;
+                if (status & UART_DATA_READY)
+                    break;
            }
            pause(10)
        }
@ -814,10 +822,10 @@ namespace sensors {

    export class ThresholdDetector {
        public id: number;
-        public min: number;
-        public max: number;
-        public lowThreshold: number;
-        public highThreshold: number;
+        private min: number;
+        private max: number;
+        private lowThreshold: number;
+        private highThreshold: number;
        public level: number;
        public state: ThresholdState;

--- a/libs/core/integrator.ts
+++ b/libs/core/integrator.ts
@ -0,0 +1,26 @@
+namespace control {
+    export class EulerIntegrator {
+        public value: number;
+        private t: number;
+        private v: number;
+
+        constructor() {
+            this.reset();
+        }
+
+        public integrate(derivative: number): void {
+            let now = control.millis();
+            let dt = (now -this.t) / 1000.0;
+            this.value += dt * (this.v + derivative) / 2;
+
+            this.t = now;
+            this.v = derivative;
+        }
+
+        public reset() {
+            this.value = 0;
+            this.v = 0;
+            this.t = control.millis();
+        }
+    }
+}
--- a/libs/core/linux.cpp
+++ b/libs/core/linux.cpp
@ -1,588 +0,0 @@
-#include "pxt.h"
-
-#include <stdlib.h>
-#include <stdio.h>
-#include <sys/time.h>
-#include <time.h>
-#include <cstdarg>
-#include <pthread.h>
-#include <unistd.h>
-#include <dirent.h>
-#include <signal.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#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)
-
-void *xmalloc(size_t sz) {
-    static size_t allocBytes = 0;
-    allocBytes += sz;
-    if (allocBytes >= MALLOC_CHECK_PERIOD) {
-        allocBytes = 0;
-        auto info = mallinfo();
-        DMESG("malloc used: %d kb", info.uordblks / 1024);
-        if (info.uordblks > MALLOC_LIMIT) {
-            target_panic(904);
-        }
-    }
-    auto r = malloc(sz);
-    if (r == NULL)
-        target_panic(905); // shouldn't happen
-    return r;
-}
-
-void *operator new(size_t size) {
-    return xmalloc(size);
-}
-void *operator new[](size_t size) {
-    return xmalloc(size);
-}
-
-void operator delete(void *p) {
-    free(p);
-}
-void operator delete[](void *p) {
-    free(p);
-}
-
-namespace pxt {
-
-static int startTime;
-static pthread_mutex_t execMutex;
-static pthread_mutex_t eventMutex;
-static pthread_cond_t newEventBroadcast;
-
-struct Thread {
-    struct Thread *next;
-    Action act;
-    TValue arg0;
-    pthread_t pid;
-    pthread_cond_t waitCond;
-    int waitSource;
-    int waitValue;
-    TValue data0;
-    TValue data1;
-};
-
-static struct Thread *allThreads;
-static struct Event *eventHead, *eventTail;
-static int usbFD;
-static int dmesgPtr;
-static int dmesgSerialPtr;
-static char dmesgBuf[4096];
-
-struct Event {
-    struct Event *next;
-    int source;
-    int value;
-};
-
-Event lastEvent;
-
-Event *mkEvent(int source, int value) {
-    auto res = new Event();
-    memset(res, 0, sizeof(Event));
-    res->source = source;
-    res->value = value;
-    return res;
-}
-
-#define USB_MAGIC 0x3d3f
-#define USB_SERIAL 1
-#define USB_RESTART 2
-#define USB_DMESG 3
-
-struct UsbPacket {
-    uint16_t size;
-    uint16_t msgcount;
-    uint16_t magic;
-    uint16_t code;
-    char buf[1024 - 8];
-};
-
-void *usbThread(void *) {
-    UsbPacket pkt;
-    UsbPacket resp;
-    while (true) {
-        int len = read(usbFD, &pkt, sizeof(pkt));
-        if (len <= 4) {
-            sleep_core_us(20000);
-            continue;
-        }
-        resp.msgcount = pkt.msgcount;
-        if (pkt.magic == USB_MAGIC) {
-            if (pkt.code == USB_RESTART) {
-                target_reset();
-            } else if (pkt.code == USB_DMESG) {
-                dumpDmesg();
-            }
-            /*
-            resp.magic = pkt.magic;
-            resp.code = pkt.code;
-            resp.size = 8;
-            write(usbFD, &resp, sizeof(resp));
-            */
-        } else {
-            resp.magic = 0xffff;
-            resp.size = 4;
-            write(usbFD, &resp, sizeof(resp));
-        }
-        sleep_core_us(1000);
-    }
-}
-
-static void startUsb() {
-    usbFD = open("/dev/lms_usbdev", O_RDWR, 0666);
-    pthread_t pid;
-    pthread_create(&pid, NULL, usbThread, NULL);
-    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;
-        if (sz > 1000)
-            sz = 1000;
-        UsbPacket pkt = {(uint16_t)(6 + sz), 0, USB_MAGIC, code, {}};
-        memcpy(pkt.buf, data, sz);
-        write(usbFD, &pkt, sizeof(pkt));
-        len -= sz;
-        data += sz;
-    }
-}
-
-void sendSerial(const char *data, int len) {
-    sendUsb(USB_SERIAL, data, len);
-}
-
-volatile bool paniced;
-extern "C" void drawPanic(int code);
-
-extern "C" void target_panic(int error_code) {
-    char buf[50];
-    paniced = true;
-    pthread_mutex_trylock(&execMutex);
-
-    snprintf(buf, sizeof(buf), "\nPANIC %d\n", error_code);
-
-    drawPanic(error_code);
-    DMESG("PANIC %d", error_code);
-
-    for (int i = 0; i < 10; ++i) {
-        sendSerial(buf, strlen(buf));
-        sleep_core_us(500 * 1000);
-    }
-
-    target_reset();
-}
-
-void startUser() {
-    pthread_mutex_lock(&execMutex);
-}
-
-void stopUser() {
-    pthread_mutex_unlock(&execMutex);
-}
-
-void sleep_core_us(uint64_t us) {
-    struct timespec ts;
-    ts.tv_sec = us / 1000000;
-    ts.tv_nsec = (us % 1000000) * 1000;
-    while (nanosleep(&ts, &ts))
-        ;
-}
-
-void sleep_ms(uint32_t ms) {
-    stopUser();
-    sleep_core_us(ms * 1000);
-    startUser();
-}
-
-void sleep_us(uint64_t us) {
-    if (us > 50000) {
-        sleep_ms(us / 1000);
-    }
-    sleep_core_us(us);
-}
-
-uint64_t currTime() {
-    struct timeval tv;
-    gettimeofday(&tv, NULL);
-    return tv.tv_sec * 1000 + tv.tv_usec / 1000;
-}
-
-int current_time_ms() {
-    return currTime() - startTime;
-}
-
-void disposeThread(Thread *t) {
-    if (allThreads == t) {
-        allThreads = t->next;
-    } else {
-        for (auto tt = allThreads; tt; tt = tt->next) {
-            if (tt->next == t) {
-                tt->next = t->next;
-                break;
-            }
-        }
-    }
-    decr(t->act);
-    decr(t->arg0);
-    decr(t->data0);
-    decr(t->data1);
-    pthread_cond_destroy(&t->waitCond);
-    delete t;
-}
-
-static void runAct(Thread *thr) {
-    startUser();
-    pxt::runAction1(thr->act, thr->arg0);
-    stopUser();
-    disposeThread(thr);
-}
-
-static void mainThread(Thread *) {}
-
-void setupThread(Action a, TValue arg = 0, void (*runner)(Thread *) = NULL, TValue d0 = 0,
-                 TValue d1 = 0) {
-    if (runner == NULL)
-        runner = runAct;
-    auto thr = new Thread();
-    memset(thr, 0, sizeof(Thread));
-    thr->next = allThreads;
-    allThreads = thr;
-    thr->act = incr(a);
-    thr->arg0 = incr(arg);
-    thr->data0 = incr(d0);
-    thr->data1 = incr(d1);
-    pthread_cond_init(&thr->waitCond, NULL);
-    if (runner == mainThread) {
-        thr->pid = pthread_self();
-    } else {
-        pthread_create(&thr->pid, NULL, (void *(*)(void *))runner, thr);
-        THREAD_DBG("setup thread: %p (pid %p)", thr, thr->pid);
-        pthread_detach(thr->pid);
-    }
-}
-
-void releaseFiber() {
-    stopUser();
-    pthread_exit(NULL);
-}
-
-void runInParallel(Action a) {
-    setupThread(a);
-}
-
-static void runFor(Thread *t) {
-    startUser();
-    while (true) {
-        pxt::runAction0(t->act);
-        sleep_ms(20);
-    }
-}
-
-void runForever(Action a) {
-    setupThread(a, 0, runFor);
-}
-
-void waitForEvent(int source, int value) {
-    THREAD_DBG("waitForEv: %d %d", source, value);
-    auto self = pthread_self();
-    for (auto t = allThreads; t; t = t->next) {
-        THREAD_DBG("t: %p", t);
-        if (t->pid == self) {
-            pthread_mutex_lock(&eventMutex);
-            t->waitSource = source;
-            t->waitValue = value;
-            stopUser();
-            // spourious wake ups may occur they say
-            while (t->waitSource) {
-                pthread_cond_wait(&t->waitCond, &eventMutex);
-            }
-            pthread_mutex_unlock(&eventMutex);
-            startUser();
-            return;
-        }
-    }
-    DMESG("current thread not registered!");
-    target_panic(901);
-}
-
-static void dispatchEvent(Event &e) {
-    lastEvent = e;
-
-    auto curr = findBinding(e.source, e.value);
-    if (curr)
-        setupThread(curr->action, fromInt(e.value));
-
-    curr = findBinding(e.source, DEVICE_EVT_ANY);
-    if (curr)
-        setupThread(curr->action, fromInt(e.value));
-}
-
-static void *evtDispatcher(void *dummy) {
-    pthread_mutex_lock(&eventMutex);
-    while (true) {
-        pthread_cond_wait(&newEventBroadcast, &eventMutex);
-        while (eventHead != NULL) {
-            if (paniced)
-                return 0;
-            Event *ev = eventHead;
-            eventHead = ev->next;
-            if (eventHead == NULL)
-                eventTail = NULL;
-
-            for (auto thr = allThreads; thr; thr = thr->next) {
-                if (paniced)
-                    return 0;
-                if (thr->waitSource == 0)
-                    continue;
-                if (thr->waitValue != ev->value && thr->waitValue != DEVICE_EVT_ANY)
-                    continue;
-                if (thr->waitSource == ev->source) {
-                    thr->waitSource = 0; // once!
-                    pthread_cond_broadcast(&thr->waitCond);
-                } else if (thr->waitSource == DEVICE_ID_NOTIFY &&
-                           ev->source == DEVICE_ID_NOTIFY_ONE) {
-                    thr->waitSource = 0; // once!
-                    pthread_cond_broadcast(&thr->waitCond);
-                    break; // do not wake up any other threads
-                }
-            }
-
-            dispatchEvent(*ev);
-            delete ev;
-        }
-    }
-}
-
-int allocateNotifyEvent() {
-    static volatile int notifyId;
-    pthread_mutex_lock(&eventMutex);
-    int res = ++notifyId;
-    pthread_mutex_unlock(&eventMutex);
-    return res;
-}
-
-void raiseEvent(int id, int event) {
-    auto e = mkEvent(id, event);
-    pthread_mutex_lock(&eventMutex);
-    if (eventTail == NULL) {
-        if (eventHead != NULL)
-            target_panic(902);
-        eventHead = eventTail = e;
-    } else {
-        eventTail->next = e;
-        eventTail = e;
-    }
-    pthread_cond_broadcast(&newEventBroadcast);
-    pthread_mutex_unlock(&eventMutex);
-}
-
-void registerWithDal(int id, int event, Action a, int flags) {
-    // TODO support flags
-    setBinding(id, event, a);
-}
-
-static void runPoller(Thread *thr) {
-    Action query = thr->data0;
-    auto us = (uint64_t)toInt(thr->data1) * 1000;
-
-    // note that this is run without the user mutex held - it should not modify any state!
-    TValue prev = pxt::runAction0(query);
-
-    startUser();
-    pxt::runAction2(thr->act, prev, prev);
-    stopUser();
-
-    while (true) {
-        sleep_core_us(us);
-        if (paniced)
-            break;
-        TValue curr = pxt::runAction0(query);
-        if (curr != prev) {
-            startUser();
-            pxt::runAction2(thr->act, prev, curr);
-            stopUser();
-            if (paniced)
-                break;
-            decr(prev);
-            prev = curr;
-        }
-    }
-    //    disposeThread(thr);
-}
-
-uint32_t afterProgramPage() {
-    return 0;
-}
-void dumpDmesg() {
-    auto len = dmesgPtr - dmesgSerialPtr;
-    if (len == 0)
-        return;
-    sendSerial(dmesgBuf + dmesgSerialPtr, len);
-    dmesgSerialPtr = dmesgPtr;
-}
-
-int lmsPid;
-void stopLMS() {
-    struct dirent *ent;
-    DIR *dir;
-
-    dir = opendir("/proc");
-    if (dir == NULL)
-        return;
-
-    while ((ent = readdir(dir)) != NULL) {
-        int pid = atoi(ent->d_name);
-        if (!pid)
-            continue;
-        char namebuf[100];
-        snprintf(namebuf, 1000, "/proc/%d/cmdline", pid);
-        FILE *f = fopen(namebuf, "r");
-        if (f) {
-            fread(namebuf, 1, 99, f);
-            if (strcmp(namebuf, "./lms2012") == 0) {
-                lmsPid = pid;
-            }
-            fclose(f);
-            if (lmsPid)
-                break;
-        }
-    }
-
-    closedir(dir);
-
-    lmsPid = 0; // disable SIGSTOP for now - rethink if problems with I2C (runs on a thread)
-
-    if (lmsPid) {
-        DMESG("SIGSTOP to lmsPID=%d", lmsPid);
-        if (kill(lmsPid, SIGSTOP))
-            DMESG("SIGSTOP failed");
-    }
-}
-
-void runLMS() {
-    DMESG("re-starting LMS2012");
-    kill(lmsPid, SIGCONT);
-    sleep_core_us(200000);
-    exit(0);
-    /*
-    chdir("/home/root/lms2012/sys");
-    for (int fd = 3; fd < 9999; ++fd)
-        close(fd);
-    execl("lms2012", "./lms2012");
-    exit(100); // should not be reached
-    */
-}
-
-void stopMotors() {
-    uint8_t cmd[3] = {opOutputStop, 0x0F, 0};
-    int fd = open("/dev/lms_pwm", O_RDWR);
-    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
-        exit(0);
-}
-
-void screen_init();
-void initRuntime() {
-    // daemon(1, 1);
-    startTime = currTime();
-    DMESG("runtime starting...");
-    stopLMS();
-    startUsb();
-    startExitThread();
-    pthread_t disp;
-    pthread_create(&disp, NULL, evtDispatcher, NULL);
-    pthread_detach(disp);
-    setupThread(0, 0, mainThread);
-    target_init();
-    screen_init();
-    startUser();
-}
-
-static FILE *dmesgFile;
-
-void dmesgRaw(const char *buf, uint32_t len) {
-    if (!dmesgFile) {
-        dmesgFile = fopen("/tmp/dmesg.txt", "w");
-        if (!dmesgFile)
-            dmesgFile = stderr;
-    }
-
-    if (len > sizeof(dmesgBuf) / 2)
-        return;
-    if (dmesgPtr + len > sizeof(dmesgBuf)) {
-        dmesgPtr = 0;
-        dmesgSerialPtr = 0;
-    }
-    memcpy(dmesgBuf + dmesgPtr, buf, len);
-    dmesgPtr += len;
-    fwrite(buf, 1, len, dmesgFile);
-}
-
-void dmesg(const char *format, ...) {
-    char buf[500];
-
-    snprintf(buf, sizeof(buf), "[%8d] ", current_time_ms());
-    dmesgRaw(buf, strlen(buf));
-
-    va_list arg;
-    va_start(arg, format);
-    vsnprintf(buf, sizeof(buf), format, arg);
-    va_end(arg);
-    dmesgRaw(buf, strlen(buf));
-    dmesgRaw("\n", 1);
-
-    fflush(dmesgFile);
-    fdatasync(fileno(dmesgFile));
-}
-} // namespace pxt
--- a/libs/core/mmap.cpp
+++ b/libs/core/mmap.cpp
@ -25,13 +25,20 @@ PXT_VTABLE_CTOR(MMap) {
 }

 void MMap::print() {
-    DMESG("MMap %p r=%d len=%d fd=%d data=%p", this, refcnt, length, fd, data);
+    DMESG("MMap %p len=%d fd=%d data=%p", this, length, fd, data);
 }

 void MMap::destroy() {
    munmap(data, length);
    close(fd);
 }
+
+void MMap::scan(MMap *) {}
+
+unsigned MMap::gcsize(MMap *) {
+    return TOWORDS(sizeof(MMap));
+}
+
 }

 namespace control {
@ -39,8 +46,8 @@ namespace control {
 /** Create new file mapping in memory */
 //%
 MMap *mmap(String filename, int size, int offset) {
-    DMESG("mmap %s len=%d off=%d", filename->data, size, offset);
-    int fd = open(filename->data, O_RDWR, 0);
+    DMESG("mmap %s len=%d off=%d", filename->getUTF8Data(), size, offset);
+    int fd = open(filename->getUTF8Data(), O_RDWR, 0);
    if (fd < 0)
        return 0;
    
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@ -159,6 +159,7 @@ namespace motors {
        private _accelerationTime: number;
        private _decelerationSteps: number;
        private _decelerationTime: number;
+        private _inverted: boolean;

        protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];

@ -176,6 +177,7 @@ namespace motors {
            this._accelerationTime = 0;
            this._decelerationSteps = 0;
            this._decelerationTime = 0;
+            this._inverted = false;
        }

        /**
@ -225,9 +227,11 @@ namespace motors {
        //% help=motors/motor/set-inverted
        setInverted(inverted: boolean) {
            this.init();
-            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
-            b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
-            writePWM(b)
+            this._inverted = inverted;
+        }
+
+        protected invertedFactor(): number {
+            return this._inverted ? -1 : 1;
        }

        /** 
@ -264,8 +268,9 @@ namespace motors {
            // allow 500ms for robot to settle
            if (this._brake && this._brakeSettleTime > 0)
                pause(this._brakeSettleTime);
-            else
-                pause(1); // give a tiny breather
+            else {
+                pause(1);
+            }
        }

        protected pauseOnRun(stepsOrTime: number) {
@ -275,7 +280,6 @@ namespace motors {
                // allow robot to settle
                this.settle();
            } else {
-                // give a breather to the event system in tight loops
                pause(1);
            }
        }
@ -294,8 +298,9 @@ namespace motors {
        }

        private normalizeSchedule(speed: number, step1: number, step2: number, step3: number, unit: MoveUnit): MoveSchedule {
+            // motor polarity is not supported at the firmware level for sync motor operations
            const r: MoveSchedule = {
-                speed: Math.clamp(-100, 100, speed >> 0),
+                speed: Math.clamp(-100, 100, speed | 0) * this.invertedFactor(),
                useSteps: true,
                steps: [step1 || 0, step2 || 0, step3 || 0]
            }
@ -562,6 +567,7 @@ namespace motors {

        private __init() {
            this.setOutputType(this._large);
+            this.setInverted(false);
        }

        /**
@ -741,7 +747,7 @@ namespace motors {
        //% help=motors/synced/steer
        steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
            this.init();
-            speed = Math.clamp(-100, 100, speed >> 0);
+            speed = Math.clamp(-100, 100, speed >> 0) * this.invertedFactor();
            if (!speed) {
                this.stop();
                return;
@ -918,9 +924,3 @@ namespace motors {
        writePWM(b)
    }
 }
-
-
-interface Buffer {
-    [index: number]: number;
-    // rest defined in buffer.cpp
-}
--- a/libs/core/platform.cpp
+++ b/libs/core/platform.cpp
@ -0,0 +1,236 @@
+#include "pxt.h"
+
+#include <unistd.h>
+#include <sys/mman.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <pthread.h>
+#include <signal.h>
+#include <dirent.h>
+#include "ev3const.h"
+
+namespace pxt {
+
+    static int usbFD;
+
+#define USB_MAGIC 0x3d3f
+#define USB_SERIAL 1
+#define USB_RESTART 2
+#define USB_DMESG 3
+
+struct UsbPacket {
+    uint16_t size;
+    uint16_t msgcount;
+    uint16_t magic;
+    uint16_t code;
+    char buf[1024 - 8];
+};
+
+void *usbThread(void *) {
+    UsbPacket pkt;
+    UsbPacket resp;
+    while (true) {
+        int len = read(usbFD, &pkt, sizeof(pkt));
+        if (len <= 4) {
+            sleep_core_us(20000);
+            continue;
+        }
+        resp.msgcount = pkt.msgcount;
+        if (pkt.magic == USB_MAGIC) {
+            if (pkt.code == USB_RESTART) {
+                target_reset();
+            } else if (pkt.code == USB_DMESG) {
+                dumpDmesg();
+            }
+            /*
+            resp.magic = pkt.magic;
+            resp.code = pkt.code;
+            resp.size = 8;
+            write(usbFD, &resp, sizeof(resp));
+            */
+        } else {
+            resp.magic = 0xffff;
+            resp.size = 4;
+            write(usbFD, &resp, sizeof(resp));
+        }
+        sleep_core_us(1000);
+    }
+}
+
+static void startUsb() {
+    usbFD = open("/dev/lms_usbdev", O_RDWR, 0666);
+    pthread_t pid;
+    pthread_create(&pid, NULL, usbThread, NULL);
+    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;
+        if (sz > 1000)
+            sz = 1000;
+        UsbPacket pkt = {(uint16_t)(6 + sz), 0, USB_MAGIC, code, {}};
+        memcpy(pkt.buf, data, sz);
+        write(usbFD, &pkt, sizeof(pkt));
+        len -= sz;
+        data += sz;
+    }
+}
+
+void sendSerial(const char *data, int len) {
+    sendUsb(USB_SERIAL, data, len);
+}
+
+int lmsPid;
+void stopLMS() {
+    struct dirent *ent;
+    DIR *dir;
+
+    dir = opendir("/proc");
+    if (dir == NULL)
+        return;
+
+    while ((ent = readdir(dir)) != NULL) {
+        int pid = atoi(ent->d_name);
+        if (!pid)
+            continue;
+        char namebuf[100];
+        snprintf(namebuf, 100, "/proc/%d/cmdline", pid);
+        FILE *f = fopen(namebuf, "r");
+        if (f) {
+            fread(namebuf, 1, 99, f);
+            if (strcmp(namebuf, "./lms2012") == 0) {
+                lmsPid = pid;
+            }
+            fclose(f);
+            if (lmsPid)
+                break;
+        }
+    }
+
+    closedir(dir);
+
+    lmsPid = 0; // disable SIGSTOP for now - rethink if problems with I2C (runs on a thread)
+
+    if (lmsPid) {
+        DMESG("SIGSTOP to lmsPID=%d", lmsPid);
+        if (kill(lmsPid, SIGSTOP))
+            DMESG("SIGSTOP failed");
+    }
+}
+
+void runLMS() {
+    DMESG("re-starting LMS2012");
+    kill(lmsPid, SIGCONT);
+    sleep_core_us(200000);
+    exit(0);
+    /*
+    chdir("/home/root/lms2012/sys");
+    for (int fd = 3; fd < 9999; ++fd)
+        close(fd);
+    execl("lms2012", "./lms2012");
+    exit(100); // should not be reached
+    */
+}
+
+void stopMotors() {
+    uint8_t cmd[3] = {opOutputStop, 0x0F, 0};
+    int fd = open("/dev/lms_pwm", O_RDWR);
+    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() {
+    tryLockUser();
+    stopMotors();
+    stopProgram();
+    if (lmsPid)
+        runLMS();
+    else
+        exit(0);
+}
+
+void target_exit() {
+    target_reset();
+}
+
+
+void target_startup() {
+    stopLMS();
+    startUsb();
+    startExitThread();
+}
+
+void initKeys() {}
+
+static const char *progPath = "/mnt/ramdisk/prjs/BrkProg_SAVE";
+
+// These are disabled except when building File_manager.pdf
+// %
+void deletePrjFile(String filename) {
+    const char *d = filename->getUTF8Data();
+    if (strlen(d) > 500 || strchr(d, '/'))
+        return;
+    char buf[1024];
+    snprintf(buf, sizeof(buf), "%s/%s", progPath, d);
+    unlink(buf);
+}
+
+// %
+RefCollection *listPrjFiles() {
+    auto res = Array_::mk();
+    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->head.push((TValue)str);
+        unregisterGCObj(str);
+    }
+    if (dp)
+        closedir(dp);
+    unregisterGCObj(res);
+
+    return res;
+}
+
+}
--- a/libs/core/platform.h
+++ b/libs/core/platform.h
@ -1 +1,3 @@
-// leave empty
+#define PXT_GC_THREAD_LIST 1
+
+#define PXT_IN_ISR() false
--- a/libs/core/pxt.h
+++ b/libs/core/pxt.h
@ -11,6 +11,7 @@ int allocateNotifyEvent();
 void sleep_core_us(uint64_t us);
 void startUser();
 void stopUser();
+int tryLockUser();

 class Button;
 typedef Button *Button_;
@ -27,9 +28,13 @@ class MMap : public RefObject {
    MMap();
    void destroy();
    void print();
+
+    static void scan(MMap *);
+    static unsigned gcsize(MMap *);
 };

 extern volatile bool paniced;
+void target_exit();

 // Buffer, Sound, and Image share representation.
 typedef Buffer Sound;
--- a/libs/core/pxt.json
+++ b/libs/core/pxt.json
@ -25,11 +25,20 @@
        "dal.d.ts",
        "icons.jres",
        "ns.ts",
-        "platform.h"
+        "platform.h",
+        "platform.cpp",
+        "dmesg.cpp",
+        "integrator.ts"
    ],
    "testFiles": [
        "test.ts"
    ],
+    "dalDTS": {
+        "includeDirs": [
+            "pxtapp"
+        ]
+    },
+    "additionalFilePath": "../../node_modules/pxt-common-packages/libs/core---linux",
    "npmDependencies": {},
    "public": true,
    "dependencies": {
--- a/libs/core/pxtcore.h
+++ b/libs/core/pxtcore.h
@ -1,16 +0,0 @@
-#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
--- a/libs/core/screen.cpp
+++ b/libs/core/screen.cpp
@ -85,10 +85,9 @@ void updateScreen(Image_ img) {
        lastImg = img;
    }

-    if (lastImg && lastImg->isDirty() && mappedFrameBuffer != MAP_FAILED) {
+    if (lastImg && mappedFrameBuffer != MAP_FAILED) {
        if (lastImg->bpp() != 1 || lastImg->width() != LCD_WIDTH || lastImg->height() != LCD_HEIGHT)
            target_panic(906);
-        lastImg->clearDirty();
        bitBufferToFrameBufferSwap(lastImg->pix(), mappedFrameBuffer);
    }
 }
--- a/libs/core/serialnumber.cpp
+++ b/libs/core/serialnumber.cpp
@ -25,8 +25,8 @@ struct hci_dev_list_req {
    hci_dev_req dev_req[2];
 };

-static uint32_t bt_addr() {
-    uint32_t res = -1;
+static uint64_t bt_addr() {
+    uint64_t res = -1;

    int fd = socket(AF_BLUETOOTH, SOCK_RAW, BTPROTO_HCI);
    if (fd < 0) {
@ -50,11 +50,8 @@ static uint32_t bt_addr() {
        goto done;
    }

-    memcpy(&res, di.bdaddr, 4);
-    res *= 0x1000193;
-    res += di.bdaddr[4];
-    res *= 0x1000193;
-    res += di.bdaddr[5];
+    res = 0;
+    memcpy(&res, di.bdaddr, 6);

 done:
    close(fd);
@ -63,14 +60,10 @@ done:

 namespace pxt {

-int getSerialNumber() {
-    static int serial;
-
-    if (serial != 0)
-        return serial;
-
-    serial = bt_addr() & 0x7fffffff;
-
+uint64_t getLongSerialNumber() {
+    static uint64_t serial;
+    if (serial == 0)
+        serial = bt_addr();
    return serial;
 }

--- a/libs/core/shims.d.ts
+++ b/libs/core/shims.d.ts
@ -68,6 +68,12 @@ declare namespace control {
    /** Write data to DMESG debugging buffer. */
    //% shim=control::dmesg
    function dmesg(s: string): void;
+
+    /**
+     * Determines if the USB has been enumerated.
+     */
+    //% shim=control::isUSBInitialized
+    function isUSBInitialized(): boolean;
 }
 declare namespace serial {

--- a/libs/ev3/brick.ts
+++ b/libs/ev3/brick.ts
@ -0,0 +1,13 @@
+namespace brick {
+    /**
+     * Exits the program to the main menu. (in the simulator restarts it)
+     */
+    //% blockId=loopstop block="exit program"
+    //% help=reference/brick/exit-program
+    //% weight=10
+    //% blockGap=8
+    //% group="Buttons"
+    export function exitProgram() {
+        control.reset();
+    }
+}
--- a/libs/ev3/console.ts
+++ b/libs/ev3/console.ts
@ -20,7 +20,7 @@ namespace console._screen {
            lines = [];
            console.addListener(log);
            brick.buttonUp.onEvent(ButtonEvent.Bumped, () => scroll(-3))
-            brick.buttonDown.onEvent(ButtonEvent.Bumped, () => scroll(3))                
+            brick.buttonDown.onEvent(ButtonEvent.Bumped, () => scroll(3))
        }
    }

@ -44,7 +44,7 @@ namespace console._screen {
        printLog();
    }

-    function log(msg: string): void {    
+    function log(priority: ConsolePriority, msg: string): void {
        lines.push(msg);
        if (lines.length + 5 > maxLines) {
            lines.splice(0, maxLines - lines.length);
--- a/libs/ev3/ns.ts
+++ b/libs/ev3/ns.ts
@ -1,6 +1,6 @@

 //% color="#68C3E2" weight=100 icon="\uf106"
-//% groups='["Buttons", "Screen", "Battery"]'
+//% groups='["Buttons", "Screen", "Power"]'
 //% labelLineWidth=60
 namespace brick {
 }
--- a/libs/ev3/pxt.json
+++ b/libs/ev3/pxt.json
@ -2,8 +2,9 @@
    "name": "ev3",
    "description": "The EV3 library",
    "files": [
-        "README.md",
+        "README.md",        
        "ns.ts",
+        "brick.ts",
        "startup.ts",
        "images.jres",
        "images.ts",
--- a/libs/ev3/startup.ts
+++ b/libs/ev3/startup.ts
@ -1,10 +1,6 @@
 // This is the last thing executed before user code
-console.addListener(function(msg: string) {
+console.addListener(function(priority: ConsolePriority, msg: string) {
    control.dmesg(msg.substr(0, msg.length - 1))
 })
-// 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(400)
-// and we're ready
-brick.setStatusLight(StatusLight.Off);
+// boot sequence
+brick.showBoot();
--- a/libs/gyro-sensor/docs/reference/sensors/gyro/pause-until-rotated.md
+++ b/libs/gyro-sensor/docs/reference/sensors/gyro/pause-until-rotated.md
@ -0,0 +1,21 @@
+# Pause Until Rotated
+
+Pauses the program until the gyro sensors detect that the desired amount of rotation
+has been acheived.
+
+```
+sensors.gyro2.pauseUntilRotated(90)
+```
+
+## Example
+
+This program performs a square turn left, then right.
+
+```blocks
+sensors.gyro2.calibrate()
+motors.largeBC.steer(200, 10)
+sensors.gyro2.pauseUntilRotated(90)
+motors.largeBC.steer(-200, 10)
+sensors.gyro2.pauseUntilRotated(-90)
+motors.largeBC.stop()
+```
--- a/libs/gyro-sensor/gyro.ts
+++ b/libs/gyro-sensor/gyro.ts
@ -7,12 +7,15 @@ const enum GyroSensorMode {
 namespace sensors {
    //% fixedInstances
    export class GyroSensor extends internal.UartSensor {
-        private calibrating: boolean;
+        private _calibrating: boolean;
        private _drift: number;
+        private _angle: control.EulerIntegrator;
        constructor(port: number) {
            super(port)
-            this.calibrating = false;
+            this._calibrating = false;
            this._drift = 0;
+            this._angle = new control.EulerIntegrator();
+            this._setMode(GyroSensorMode.Rate);
            this.setMode(GyroSensorMode.Rate);
        }

@ -21,13 +24,17 @@ namespace sensors {
        }

        _query(): number {
-            return this.getNumber(NumberFormat.Int16LE, 0);
+            const v = this.getNumber(NumberFormat.Int16LE, 0);
+            this._angle.integrate(v - this._drift);
+            return v;
        }

        setMode(m: GyroSensorMode) {
-            if (m == GyroSensorMode.Rate && this.mode != m)
-                this._drift = 0;
-            this._setMode(m)
+            // decrecated
+        }
+
+        isCalibrating(): boolean {
+            return this._calibrating;
        }

        /**
@ -40,15 +47,14 @@ namespace sensors {
        //% parts="gyroscope"
        //% blockNamespace=sensors
        //% this.fieldEditor="ports"
-        //% weight=64
+        //% weight=64 blockGap=8
        //% group="Gyro Sensor"
        angle(): number {
            this.poke();
-            if (this.calibrating)
-                pauseUntil(() => !this.calibrating, 2000);
+            if (this._calibrating)
+                pauseUntil(() => !this._calibrating, 2000);

-            this.setMode(GyroSensorMode.Angle);
-            return this._query();
+            return Math.round(this._angle.value);
        }

        /**
@ -65,10 +71,8 @@ namespace sensors {
        //% group="Gyro Sensor"
        rate(): number {
            this.poke();
-            if (this.calibrating)
-                pauseUntil(() => !this.calibrating, 2000);
-
-            this.setMode(GyroSensorMode.Rate);
+            if (this._calibrating)
+                pauseUntil(() => !this._calibrating, 2000);
            return this._query() - this._drift;
        }

@ -85,12 +89,12 @@ namespace sensors {
        //% weight=51 blockGap=8
        //% group="Gyro Sensor"
        calibrate(): void {
-            if (this.calibrating) return; // already in calibration mode
+            if (this._calibrating) return; // already in calibration mode

            const statusLight = brick.statusLight(); // save current status light
            brick.setStatusLight(StatusLight.Orange);

-            this.calibrating = true;
+            this._calibrating = true;
            // may be triggered by a button click,
            // give time for robot to settle
            pause(700);
@ -104,7 +108,8 @@ namespace sensors {
                brick.setStatusLight(statusLight); // resture previous light

                // and we're done
-                this.calibrating = false;
+                this._angle.reset();
+                this._calibrating = false;
                return;
            }

@ -116,22 +121,22 @@ namespace sensors {
            // wait till sensor is live
            pauseUntil(() => this.isActive(), 7000);
            // mode toggling
-            this.setMode(GyroSensorMode.Rate);
-            this.setMode(GyroSensorMode.Angle);
+            this._setMode(GyroSensorMode.Rate);
+            this._setMode(GyroSensorMode.Angle);
+            this._setMode(GyroSensorMode.Rate);

            // check sensor is ready
            if (!this.isActive()) {
                brick.setStatusLight(StatusLight.RedFlash); // didn't work
                pause(2000);
                brick.setStatusLight(statusLight); // restore previous light
-                this.calibrating = false;
+                this._angle.reset();
+                this._calibrating = false;
                return;
            }

            // switch to rate mode
            this.computeDriftNoCalibration();
-            // switch back to the desired mode
-            this.setMode(this.mode);

            // and done
            brick.setStatusLight(StatusLight.Green); // success
@ -139,7 +144,8 @@ namespace sensors {
            brick.setStatusLight(statusLight); // resture previous light

            // and we're done
-            this.calibrating = false;
+            this._angle.reset();
+            this._calibrating = false;
        }

        /**
@ -154,13 +160,37 @@ namespace sensors {
        //% weight=50 blockGap=8
        //% group="Gyro Sensor"
        reset(): void {
-            if (this.calibrating) return; // already in calibration mode
+            if (this._calibrating) return; // already in calibration mode
+
+            this._calibrating = true;
+            const statusLight = brick.statusLight(); // save current status light
+            brick.setStatusLight(StatusLight.Orange);

-            this.calibrating = true;
            // send a reset command
            super.reset();
+            this._drift = 0;
+            this._angle.reset();
+            pauseUntil(() => this.isActive(), 7000);
+
+            // check sensor is ready
+            if (!this.isActive()) {
+                brick.setStatusLight(StatusLight.RedFlash); // didn't work
+                pause(2000);
+                brick.setStatusLight(statusLight); // restore previous light
+                this._angle.reset();
+                this._calibrating = false;
+                return;
+            }
+
+            this._setMode(GyroSensorMode.Rate);
+
            // and done
-            this.calibrating = false;
+            brick.setStatusLight(StatusLight.Green); // success
+            pause(1000);
+            brick.setStatusLight(statusLight); // resture previous light
+            // and done
+            this._angle.reset();
+            this._calibrating = false;
        }

        /**
@ -190,15 +220,35 @@ namespace sensors {
        //% weight=10 blockGap=8
        //% group="Gyro Sensor"
        computeDrift() {
-            if (this.calibrating)
-                pauseUntil(() => !this.calibrating, 2000);
+            if (this._calibrating)
+                pauseUntil(() => !this._calibrating, 2000);
            pause(1000); // let the robot settle
            this.computeDriftNoCalibration();
        }

+        /**
+         * Pauses the program until the gyro detected
+         * that the angle changed by the desired amount of degrees.
+         * @param degrees the degrees to turn
+         */
+        //% help=sensors/gyro/pause-until-rotated
+        //% block="pause until **gyro** %this|rotated %degrees=rotationPicker|degrees"
+        //% blockId=gyroPauseUntilRotated
+        //% parts="gyroscope"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% degrees.defl=90
+        //% weight=63
+        //% group="Gyro Sensor"
+        pauseUntilRotated(degrees: number, timeOut?: number): void {
+            let a = this.angle();
+            const end = a + degrees;
+            const direction = (end - a) > 0 ? 1 : -1;
+            pauseUntil(() => (end - this.angle()) * direction <= 0, timeOut);
+        }
+
        private computeDriftNoCalibration() {
            // clear drift
-            this.setMode(GyroSensorMode.Rate);
            this._drift = 0;
            const n = 10;
            let d = 0;
@ -207,22 +257,17 @@ namespace sensors {
                pause(20);
            }
            this._drift = d / n;
+            this._angle.reset();
        }

        _info(): string {
-            if (this.calibrating)
+            if (this._calibrating)
                return "cal...";

-            switch (this.mode) {
-                case GyroSensorMode.Angle:
-                    return `${this._query()}>`;
-                case GyroSensorMode.Rate:
-                    let r = `${this._query()}r`;
-                    if (this._drift != 0)
-                        r += `-${this._drift | 0}`;
-                    return r;
-            }
-            return "";
+            let r = `${this._query()}r`;
+            if (this._drift != 0)
+                r += `-${this._drift | 0}`;
+            return r;
        }
    }

@ -237,4 +282,17 @@ namespace sensors {

    //% fixedInstance whenUsed block="4" jres=icons.port4
    export const gyro4: GyroSensor = new GyroSensor(4)
+
+    /**
+      * Get the rotation angle field editor
+      * @param degrees angle in degrees, eg: 90
+      */
+    //% blockId=rotationPicker block="%degrees"
+    //% blockHidden=true shim=TD_ID
+    //% colorSecondary="#FFFFFF"
+    //% degrees.fieldEditor="numberdropdown" degrees.fieldOptions.decompileLiterals=true
+    //% degrees.fieldOptions.data='[["30", 30], ["45", 45], ["60", 60], ["90", 90], ["180", 180], ["-30", -30], ["-45", -45], ["-60", -60], ["-90", -90], ["-180", -180]]'
+    export function __rotationPicker(degrees: number): number {
+        return degrees;
+    }
 }
--- a/libs/screen/screenimage.ts
+++ b/libs/screen/screenimage.ts
@ -0,0 +1,10 @@
+
+namespace image {
+    /**
+    * Get the screen image
+    */
+    //%
+    export function screenImage(): Image {
+        return screen;
+    }
+}
--- a/libs/screen/shims.d.ts
+++ b/libs/screen/shims.d.ts
@ -15,7 +15,7 @@ declare interface Image {
    height: int32;

    /**
-     * True iff the image is monochromatic (black and white)
+     * True if the image is monochromatic (black and white)
     */
    //% property shim=ImageMethods::isMono
    isMono: boolean;
@ -45,6 +45,18 @@ declare interface Image {
    //% shim=ImageMethods::fill
    fill(c: int32): void;

+    /**
+     * Copy row(s) of pixel from image to buffer (8 bit per pixel).
+     */
+    //% shim=ImageMethods::getRows
+    getRows(x: int32, dst: Buffer): void;
+
+    /**
+     * Copy row(s) of pixel from buffer to image.
+     */
+    //% shim=ImageMethods::setRows
+    setRows(x: int32, src: Buffer): void;
+
    /**
     * Return a copy of the current image
     */
--- a/libs/screen/targetoverrides.ts
+++ b/libs/screen/targetoverrides.ts
@ -129,8 +129,8 @@ namespace brick {

        screenMode = ScreenMode.Ports;
        renderPorts();
-        control.runInParallel(function() {
-            while(screenMode == ScreenMode.Ports) {
+        control.runInParallel(function () {
+            while (screenMode == ScreenMode.Ports) {
                renderPorts();
                pause(50);
            }
@ -140,8 +140,18 @@ namespace brick {
    function renderPorts() {
        const col = 44;
        const lineHeight8 = image.font8.charHeight + 2;
+        const h = screen.height;
+
        clearScreen();

+        for (let i = 0; i < 4; ++i) {
+            const x = i * col + 2;
+            screen.print("ABCD"[i], x, 1 * lineHeight8, 1, image.font8)
+            screen.print((i + 1).toString(), x, h - lineHeight8, 1, image.font8)
+        }
+        screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
+        screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
+
        function scale(x: number) {
            if (Math.abs(x) >= 5000) {
                const k = Math.floor(x / 1000);
@ -155,27 +165,38 @@ namespace brick {
        const datas = motors.getAllMotorData();
        for (let i = 0; i < datas.length; ++i) {
            const data = datas[i];
+            const x = i * col + 2;
            if (!data.actualSpeed && !data.count) continue;
-            const x = i * col;
-            screen.print("ABCD"[i], x + 2, 1 * lineHeight8, 1, image.font8)
-            screen.print(`${scale(data.actualSpeed)}%`, x + 2, 3 * lineHeight8, 1, image.font8)
-            screen.print(`${scale(data.count)}>`, x + 2, 4 * lineHeight8, 1, image.font8)
+            screen.print(`${scale(data.actualSpeed)}%`, x, 3 * lineHeight8, 1, image.font8)
+            screen.print(`${scale(data.count)}>`, x, 4 * lineHeight8, 1, image.font8)
        }
-        screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);

        // sensors
        const sis = sensors.internal.getActiveSensors();
-        const h = screen.height;
-        screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
        for (let i = 0; i < sis.length; ++i) {
            const si = sis[i];
-            const x = (si.port() - 1) * col;
+            const x = (si.port() - 1) * col + 2;
            const inf = si._info();
-            screen.print(si.port() + "", x, h - 4 * lineHeight8, 1, image.font8)
-            screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
+            if (inf)
+                screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
        }
    }

+    export function showBoot() {
+        // 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(400)
+        // and we're ready
+        brick.setStatusLight(StatusLight.Off);
+        // always show port by default if no UI is set
+        control.runInParallel(function () {
+            // show ports if nothing is has been shown
+            if (screenMode != ScreenMode.None) return;
+            showPorts();
+        })
+    }
+
    /**
     * An image
     * @param image the image
--- a/package.json
+++ b/package.json
@ -1,12 +1,13 @@
 {
  "name": "pxt-ev3",
-  "version": "1.2.17",
+  "version": "1.4.8",
  "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
  "private": false,
  "keywords": [
    "JavaScript",
    "education",
-    "lego",
+    "LEGO",
+    "EV3",
    "pxt",
    "MakeCode",
    "Microsoft"
@ -32,15 +33,20 @@
  ],
  "devDependencies": {
    "typescript": "2.6.1",
+    "react": "16.8.3",
    "semantic-ui-less": "2.2.14",
    "@types/bluebird": "2.0.33",
    "@types/marked": "0.3.0",
    "@types/node": "8.0.53",
-    "webfonts-generator": "^0.4.0"
+    "webfonts-generator": "^0.4.0",
+    "@types/jquery": "3.2.16",
+    "@types/react": "16.0.25",
+    "@types/react-dom": "16.0.3",
+    "@types/web-bluetooth": "0.0.4"
  },
  "dependencies": {
-    "pxt-common-packages": "0.23.61",
-    "pxt-core": "4.0.11"
+    "pxt-common-packages": "6.16.18",
+    "pxt-core": "5.28.8"
  },
  "scripts": {
    "test": "node node_modules/pxt-core/built/pxt.js travis"
--- a/pxtarget.json
+++ b/pxtarget.json
@ -22,7 +22,7 @@
    ],
    "simulator": {
        "autoRun": true,
-        "streams": true,
+        "autoRunLight": false,
        "aspectRatio": 0.5,
        "parts": false,
        "enableTrace": true,
@ -50,15 +50,16 @@
        "flashCodeAlign": 256,
        "floatingPoint": true,
        "taggedInts": true,
-        "stackAlign": 2
+        "stackAlign": 2,
+        "gc": true
    },
    "serial": {
-      "vendorId": "0x0694",
-      "productId": "0x0005",
-      "rawHID": true,
-      "useEditor": true,
-      "log": true
-  },
+        "vendorId": "0x0694",
+        "productId": "0x0005",
+        "rawHID": true,
+        "useEditor": true,
+        "log": true
+    },
    "runtime": {
        "mathBlocks": true,
        "loopsBlocks": true,
@ -72,7 +73,9 @@
        "onStartColor": "#58AB41",
        "pauseUntilBlock": {
            "category": "loops"
-        }
+        },
+        "bannedCategories": [
+        ]
    },
    "compileService": {
        "buildEngine": "dockermake",
@ -82,7 +85,7 @@
    "appTheme": {
        "accentColor": "#0089BF",
        "logoWide": true,
-        "logoUrl": "https://education.lego.com/",        
+        "logoUrl": "https://education.lego.com/",
        "logo": "./static/lego_education_logo.png",
        "docsLogo": "./static/lego_education_logo.png",
        "portraitLogo": "./static/lego_education_logo.png",
@ -151,6 +154,12 @@
        "usbHelp": [],
        "extendEditor": true,
        "extendFieldEditors": true,
+        "scriptManager": true,
+        "importExtensionFiles": true,
+        "experiments": [
+            "python",
+            "alwaysGithubItemBlocks"
+        ],
        "disableBlockIcons": true,
        "blocklyOptions": {
            "grid": {
@ -186,7 +195,11 @@
            "editor.background": "#f9f9f9"
        },
        "fileNameExclusiveFilter": "[^a-zA-Z0-9]",
+        "qrCode": true,
+        "shareFinishedTutorials": true,
+        "nameProjectFirst": true,
+        "alwaysGithubItem": true,
        "enableTrace": true
    },
    "ignoreDocsErrors": true
-}
+}
--- a/scripts/file_manager.ts
+++ b/scripts/file_manager.ts
@ -0,0 +1,97 @@
+//% shim=pxt::listPrjFiles
+function getPrjs() {
+    let programs = [
+        "pxt",
+        "my amazing robot",
+    ]
+    for (let i = 1; i < 6; ++i)
+        programs.push("Untitled-" + i)
+    return programs
+}
+
+//% shim=pxt::deletePrjFile
+function delPrj(fn: string) {
+    return
+}
+
+const programs = getPrjs()
+    .filter(s => s.substr(s.length - 4, 4) == ".rbf")
+    .map(s => s.substr(0, s.length - 4))
+    .filter(s => s != "File_manager")
+
+programs.push("")
+programs.push("Cancel")
+programs.push("Delete 0 files")
+
+let todel: boolean[] = []
+let scrollTop = 0
+let cursor = 0
+let confirm = false
+function showMenu() {
+    if (cursor < scrollTop + 2)
+        scrollTop = cursor - 2
+    else if (cursor > scrollTop + 11)
+        scrollTop = cursor - 11
+    if (scrollTop < 0)
+        scrollTop = 0
+    let num = 0
+    for (let i = 0; i < todel.length; ++i)
+        if (todel[i]) num++
+    programs[programs.length - 1] =
+        confirm ? "Enter to confirm" : "Delete " + num + " file(s)"
+
+    brick.clearScreen()
+
+    const h = brick.lineHeight()
+    for (let i = 0; i < 13; ++i) {
+        const y = i * h
+        const idx = scrollTop + i
+        const fg = idx == cursor ? 0 : 1
+        const bg = idx == cursor ? 1 : 0
+        // screen.fillRect(0, y, screen.width, h, bg);
+        let text = (idx == cursor ? ">" : " ")
+            + (todel[idx] ? "*" : " ")
+            + " "
+            + (programs[scrollTop + i] || "")
+        screen.print(text, 0, y, fg, brick.font);
+    }
+}
+function move(d: number) {
+    confirm = false
+    const nc = cursor + d
+    if (0 <= nc && nc < programs.length)
+        cursor = nc
+    showMenu()
+}
+brick.buttonDown.onEvent(ButtonEvent.Pressed, () => move(1))
+brick.buttonUp.onEvent(ButtonEvent.Pressed, () => move(-1))
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    if (cursor < programs.length - 3) {
+        todel[cursor] = !todel[cursor]
+        move(1)
+    } else if (cursor == programs.length - 3) {
+        // nothing
+    } else if (cursor == programs.length - 2) {
+        control.reset()
+    } else if (cursor == programs.length - 1) {
+        if (todel.every(x => !x))
+            return
+        if (confirm) {
+            brick.clearScreen()
+            brick.showString("deleting...", 6)
+            for (let i = 0; i < todel.length; ++i) {
+                if (todel[i]) {
+                    delPrj(programs[i] + ".elf")
+                    delPrj(programs[i] + ".rbf")
+                }
+            }
+            pause(1000)
+            control.reset()
+        } else {
+            confirm = true
+            showMenu()
+        }
+    }
+})
+showMenu()
+
--- a/sim/dalboard.ts
+++ b/sim/dalboard.ts
@ -5,6 +5,7 @@
 namespace pxsim {

    export class EV3Board extends CoreBoard {
+        viewHost: visuals.BoardHost;
        view: SVGSVGElement;

        outputState: EV3OutputState;
@ -83,7 +84,8 @@ namespace pxsim {
                highContrast: msg.highContrast,
                light: msg.light
            };
-            const viewHost = new visuals.BoardHost(pxsim.visuals.mkBoardView({
+            this.viewHost = new visuals.BoardHost(pxsim.visuals.mkBoardView({
+                boardDef,
                visual: boardDef.visual,
                highContrast: msg.highContrast,
                light: msg.light
@ -91,7 +93,7 @@ namespace pxsim {

            document.body.innerHTML = ""; // clear children
            document.body.className = msg.light ? "light" : "";
-            document.body.appendChild(this.view = viewHost.getView() as SVGSVGElement);
+            document.body.appendChild(this.view = this.viewHost.getView() as SVGSVGElement);

            this.inputNodes = [];
            this.outputNodes = [];
@ -102,8 +104,8 @@ namespace pxsim {
            return Promise.resolve();
        }

-        screenshot(): string {
-            return svg.toDataUri(new XMLSerializer().serializeToString(this.view));
+        screenshotAsync(width?: number): Promise<ImageData> {
+            return this.viewHost.screenshotAsync(width);
        }

        getBrickNode() {
--- a/sim/state/color.ts
+++ b/sim/state/color.ts
@ -3,7 +3,6 @@
 namespace pxsim {

    export enum ColorSensorMode {
-        None = -1,
        Reflected = 0,
        Ambient = 1,
        Colors = 2,
--- a/sim/state/gyro.ts
+++ b/sim/state/gyro.ts
@ -1,6 +1,5 @@
 namespace pxsim {
    export const enum GyroSensorMode {
-        None = -1,
        Angle = 0,
        Rate = 1,
    }
@ -8,7 +7,6 @@ namespace pxsim {
    export class GyroSensorNode extends UartSensorNode {
        id = NodeType.GyroSensor;

-        private angle: number = 0;
        private rate: number = 0;

        constructor(port: number) {
@ -19,14 +17,6 @@ namespace pxsim {
            return DAL.DEVICE_TYPE_GYRO;
        }

-        setAngle(angle: number) {
-            angle = angle | 0;
-            if (this.angle != angle) {
-                this.angle = angle;
-                this.setChangedState();
-            }
-        }
-
        setRate(rate: number) {
            rate = rate | 0;
            if (this.rate != rate) {
@ -35,9 +25,12 @@ namespace pxsim {
            }
        }

+        getRate() {
+            return this.rate;
+        }
+
        getValue() {
-            return this.mode == GyroSensorMode.Angle ? this.angle :
-                this.mode == GyroSensorMode.Rate ? this.rate : 0;
+            return this.getRate();
        }
    }
 }
--- a/sim/state/infrared.ts
+++ b/sim/state/infrared.ts
@ -44,7 +44,6 @@ namespace pxsim {
    }

    export enum InfraredSensorMode {
-        None = -1,
        Proximity = 0,
        Seek = 1,
        RemoteControl = 2
--- a/sim/state/motornode.ts
+++ b/sim/state/motornode.ts
@ -9,7 +9,6 @@ namespace pxsim {
        private angle: number = 0;
        private tacho: number = 0;
        private speed: number = 0;
-        private polarity: number = 1; // -1, 1 or -1

        private started: boolean;
        private speedCmd: DAL;
@ -31,7 +30,7 @@ namespace pxsim {
        }

        getSpeed() {
-            return Math.round(this.speed * (!this._synchedMotor && this.polarity == 0 ? -1 : 1));
+            return Math.round(this.speed);
        }

        getAngle() {
@ -82,16 +81,6 @@ namespace pxsim {
            return this.id == NodeType.LargeMotor;
        }

-        setPolarity(polarity: number) {
-            // Either 1 or 255 (reverse)
-            /*
-                -1 : Motor will run backward  
-                0 : Motor will run opposite direction  
-                1 : Motor will run forward             
-            */
-            this.polarity = polarity;
-        }
-
        reset() {
            // not sure what reset does...
        }
--- a/sim/state/output.ts
+++ b/sim/state/output.ts
@ -119,11 +119,7 @@ namespace pxsim {
                            return 2;
                        }
                        case DAL.opOutputPolarity: {
-                            // reverse
-                            const port = buf.data[1];
-                            const polarity = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
-                            const motors = ev3board().getMotor(port);
-                            motors.forEach(motor => motor.setPolarity(polarity));
+                            console.error("opOutputPolarity not supported");
                            return 2;
                        }
                        case DAL.opOutputSetType: {
--- a/sim/state/sounds.ts
+++ b/sim/state/sounds.ts
@ -1,7 +1,7 @@

 namespace pxsim.music {
    export function fromWAV(buf: RefBuffer) {
-        return incr(buf)
+        return buf
    }

    export function stopAllSounds() {
@ -13,7 +13,7 @@ namespace pxsim.SoundMethods {
    let audio: HTMLAudioElement;

    export function buffer(buf: RefBuffer) {
-        return incr(buf)
+        return buf
    }

    export function play(buf: RefBuffer) {
--- a/sim/visuals/board.ts
+++ b/sim/visuals/board.ts
@ -176,7 +176,7 @@ namespace pxsim.visuals {
            const dalBoard = board();
            dalBoard.updateSubscribers.push(() => this.updateState());
            if (props && props.wireframe)
-                svg.addClass(this.element, "sim-wireframe");
+                U.addClass(this.element, "sim-wireframe");

            if (props && props.theme)
                this.updateTheme();
--- a/sim/visuals/controls/rotationSlider.ts
+++ b/sim/visuals/controls/rotationSlider.ts
@ -2,12 +2,11 @@

 namespace pxsim.visuals {
    const MAX_RATE = 40;
-    const MAX_ANGLE = 360;

    export class RotationSliderControl extends ControlView<GyroSensorNode> {
        private group: SVGGElement;
        private slider: SVGGElement;
-        private text: SVGTextElement;
+        private rateText: SVGTextElement;

        private static SLIDER_WIDTH = 70;
        //private static SLIDER_HEIGHT = 78;
@ -26,8 +25,8 @@ namespace pxsim.visuals {
            pxsim.svg.child(this.slider, "circle", { 'cx': 9, 'cy': 50, 'r': 13, 'style': 'fill: #f12a21' });
            pxsim.svg.child(this.slider, "circle", { 'cx': 9, 'cy': 50, 'r': 12.5, 'style': 'fill: none;stroke: #b32e29' });

-            this.text = pxsim.svg.child(this.group, "text", {
-                'x': RotationSliderControl.SLIDER_WIDTH / 2, 
+            this.rateText = pxsim.svg.child(this.group, "text", {
+                'x': this.getInnerWidth() / 2,
                'y': RotationSliderControl.SLIDER_WIDTH * 1.2,
                'text-anchor': 'middle', 'dominant-baseline': 'middle',
                'style': 'font-size: 16px',
@ -72,17 +71,10 @@ namespace pxsim.visuals {
                return;
            }
            const node = this.state;
-            let percentage = 50;
-            if (node.getMode() == GyroSensorMode.Rate) {
-                const rate = node.getValue();
-                this.text.textContent = `${rate}°/s`
-                // cap rate at 40deg/s
-                percentage = 50 + Math.sign(rate) * Math.min(MAX_RATE, Math.abs(rate)) / MAX_RATE * 50;
-            } else {  //angle
-                const angle = node.getValue();
-                this.text.textContent = `${angle}°`
-                percentage = 50 + Math.sign(angle) * Math.min(MAX_ANGLE, Math.abs(angle)) / MAX_ANGLE * 50;
-            }
+            const rate = node.getRate();
+            this.rateText.textContent = `${rate}°/s`
+            // cap rate at 40deg/s
+            const percentage = 50 + Math.sign(rate) * Math.min(MAX_RATE, Math.abs(rate)) / MAX_RATE * 50;
            const x = RotationSliderControl.SLIDER_WIDTH * percentage / 100;
            const y = Math.abs((percentage - 50) / 50) * 10;
            this.slider.setAttribute("transform", `translate(${x}, ${y})`);
@ -97,11 +89,7 @@ namespace pxsim.visuals {
            t = -(t - 0.5) * 2; // [-1,1]

            const state = this.state;
-            if (state.getMode() == GyroSensorMode.Rate) {
-                state.setRate(MAX_RATE * t);
-            } else {
-                state.setAngle(MAX_ANGLE * t)
-            }
+            state.setRate(MAX_RATE * t);
        }
    }

--- a/sim/visuals/nodes/brickView.ts
+++ b/sim/visuals/nodes/brickView.ts
@ -24,7 +24,7 @@ namespace pxsim.visuals {
        protected buildDomCore() {
            // Setup buttons
            this.buttons = this.btnids.map(n => this.content.getElementById(this.normalizeId(n)) as SVGElement);
-            this.buttons.forEach(b => svg.addClass(b, "sim-button"));
+            this.buttons.forEach(b => U.addClass(b, "sim-button"));

            this.light = this.content.getElementById(this.normalizeId(BrickView.EV3_LIGHT_ID)) as SVGElement;
        }
--- a/targetconfig.json
+++ b/targetconfig.json
@ -18,15 +18,15 @@
        "Touch Sensor Tutorials": "tutorials/touch-sensor",
        "Color Sensor Tutorials": "tutorials/color-sensor",
        "Ultrasonic Sensor Tutorials": "tutorials/ultrasonic-sensor",
-        "Gyro Sensor Tutorials": "tutorials/gyro",
+        "Gyro Tutorials": "tutorials/gyro",
        "Infrared Sensor Tutorials": "tutorials/infrared-sensor",
        "FLL / City Shaper": "tutorials/city-shaper",
        "Design Engineering": "design-engineering",
        "Coding": "coding",
        "Maker": "maker",
-        "Videos": "videos"
+        "Tutorial Videos": "videos"
    },
    "electronManifest": {
-        "latest": "v1.1.20"
+        "latest": "v1.2.26"
    }
 }
--- a/theme/style.less
+++ b/theme/style.less
@ -16,6 +16,10 @@
 /*******************************
    Add your custom CSS here
 *******************************/
+.simframe.ui.embed {
+    background: transparent;
+}
+

 /* Open Sans font */
@font-face  {
Author	SHA1	Message	Date
Peli de Halleux	668d814559	merge master	2019-10-31 10:26:50 -07:00
Peli de Halleux	c3f539f396	Bump pxt 5.28.7 (#954 ) * bump * bump pxt	2019-10-31 10:22:37 -07:00
Peli de Halleux	991813fff7	update elecron version to 1.2.26 (#953 )	2019-10-23 11:22:30 -07:00
Peli de Halleux	85a8f1c2c5	bump to v1.2.26	2019-10-20 16:37:57 -07:00
Peli de Halleux	ea33b81b2a	is color detectedd	2019-10-20 09:31:09 -07:00
Peli de Halleux	c8381d7626	1.2.26	2019-10-20 09:02:44 -07:00
Peli de Halleux	62b5941143	is color detected (#952 ) * added query function * reshuffle	2019-10-20 09:02:17 -07:00
Peli de Halleux	1d5d18dc88	1.2.25	2019-10-18 22:53:46 -07:00
Peli de Halleux	bc4b71e0d6	Pulling updates from master (#951 ) * show ports on start * don't run show ports automatically * polarity in synched motor (#945) * account for polarity * more comments * handle dual motor in runtime * invert steer * don't use firmware polarity * add block to stop program (#943) * add block to stop program * renaming * fix translation	2019-10-18 22:53:30 -07:00
Peli de Halleux	5c47ce2f91	add stable path	2019-10-18 22:53:17 -07:00
Peli de Halleux	6a577287c1	1.4.8	2019-10-16 21:24:06 -07:00
Peli de Halleux	8bd884e155	bump blockly	2019-10-16 21:23:14 -07:00
Peli de Halleux	20be398c2c	refactor constants	2019-10-13 09:32:43 -07:00
Peli de Halleux	ccf6164d87	logging	2019-10-13 09:22:07 -07:00
Peli de Halleux	58294883d7	blink fix (#949 )	2019-10-13 00:36:44 -07:00
Peli de Halleux	00194d4aa6	1.2.24	2019-10-13 00:36:00 -07:00
Peli de Halleux	ec900f805e	1.2.23	2019-10-13 00:35:47 -07:00
Peli de Halleux	5f5bdd7294	blink fix (#949 )	2019-10-13 00:35:20 -07:00
Peli de Halleux	953bf27bc5	logging	2019-10-13 00:05:26 -07:00
Peli de Halleux	d4ee9d2d62	various fixes	2019-10-13 00:01:34 -07:00
vincentl	38b2fc7b95	Add run it again to try tutorial to show where to find programs on brick (#947 )	2019-10-12 15:36:13 -07:00
Peli de Halleux	8cc2f1219f	1.4.7	2019-10-11 21:56:27 -07:00
Peli de Halleux	39a629cc58	bump pxt 5.25.13	2019-10-11 21:50:00 -07:00
Peli de Halleux	df65c34f15	1.4.6	2019-10-10 09:16:19 -07:00
Peli de Halleux	00fefe10d6	Boot sequence (#946 ) * refactor bootsequence * inf can be null * align elements	2019-10-10 09:15:57 -07:00
Peli de Halleux	d442f5aa41	don't ban image	2019-10-10 08:00:21 -07:00
Peli de Halleux	3311865817	1.4.5	2019-10-10 07:45:53 -07:00
Peli de Halleux	2cd2950496	polarity in synched motor (#945 ) * account for polarity * more comments * handle dual motor in runtime * invert steer * don't use firmware polarity	2019-10-10 07:44:53 -07:00
Peli de Halleux	b0de3d8c1b	1.4.4	2019-10-09 15:40:54 -07:00
Peli de Halleux	acefe3ae11	bump pxt	2019-10-09 15:40:45 -07:00
Michał Moskal	cb6c83eec7	Add sources for the file manager program (#944 )	2019-10-09 13:57:06 -07:00
Peli de Halleux	e0c8f65a65	1.4.3	2019-10-09 09:57:53 -07:00
Peli de Halleux	a4e02dcd03	add block to stop program (#943 ) * add block to stop program * renaming	2019-10-09 09:30:42 -07:00
Peli de Halleux	fb5776ec41	1.4.2	2019-10-08 22:19:50 -07:00
Peli de Halleux	d852fd961b	fix python build	2019-10-08 22:19:34 -07:00
Peli de Halleux	1ed8122804	1.4.1	2019-10-08 21:58:33 -07:00
Michał Moskal	c5cec3a6ba	update to pxt 5 and pxt-common-packages 6 (#934 ) * bump pxt * fix build issues * Auto-gen of projects/summary * removing feild editors moved to pxt * various typing fixes * more typing fixes * fixing various typing issues * Start on integration of new pxt * serial number fixes * gc-ify MMap object * Re-build generated files * fix console listeners * clear lf() warnings * More generated files * also auto-generated * Compilation fixes * fix merge * mostly fixing blocks * fix sim * fix field motors * enable a few features * moving to tsx * try to fix edtiro compilation * more defs * removing commands * removing extra $ * fix blockly warning * hiding images * enabling more pxt features * hide images * setup autorun * add lock on target_reset * update deps * return trylock result * updated pxt * rename video section * add alpha channel * upgraded pxt * bump pxt/version * removed alpha ref * var ceanup * don't do major bump	2019-10-08 21:57:55 -07:00
Peli de Halleux	ba94322d4c	1.2.23	2019-10-08 21:26:38 -07:00
Peli de Halleux	225f1da6d5	fix translation	2019-10-08 21:26:17 -07:00
Peli de Halleux	a06331eef1	added channel	2019-10-08 14:23:57 -07:00
Peli de Halleux	aa741ce8de	rename again	2019-10-08 14:21:55 -07:00
Peli de Halleux	61fe5091fe	rename	2019-10-08 14:21:45 -07:00
Peli de Halleux	3d90e13797	shrinkg image	2019-10-08 14:21:12 -07:00
vincentl	469767a40a	Add information to Try example to show where to find downloaded programs on the control brick. (#936 )	2019-10-08 14:12:43 -07:00
Peli de Halleux	604fa764e6	Create calibreapp-image-actions.yml	2019-10-08 14:03:58 -07:00
Peli de Halleux	25cf2a9cdb	move electron to 1.2.22 (#937 )	2019-10-07 14:43:34 -07:00
Peli de Halleux	7549f865d6	move master to 1.2.22	2019-10-02 13:59:58 -07:00
Peli de Halleux	a5de9d88bb	adding latest video	2019-10-02 13:53:22 -07:00
Peli de Halleux	0437df10de	1.2.22	2019-10-02 13:27:53 -07:00
Peli de Halleux	2079173dfa	lock execution thread before exiting (#935 )	2019-10-02 12:40:45 -07:00
Peli de Halleux	018a1e7528	added proportional line follower	2019-10-02 12:26:51 -07:00
Peli de Halleux	757f95d984	move master to v1.2.21	2019-10-02 10:59:50 -07:00
Peli de Halleux	8bc3fdc8ba	1.2.21	2019-10-01 15:56:22 -07:00
Peli de Halleux	e8a1e73cf5	1.2.20	2019-10-01 14:54:42 -07:00
Peli de Halleux	e9b2b239ad	More gyro lessons (#933 ) * updated pauseuntil * updated youtube link * updated docs	2019-10-01 14:54:17 -07:00
Peli de Halleux	5ad2288a9f	updated docs	2019-10-01 13:38:33 -07:00
Peli de Halleux	92d13ef343	updated bluetooth info	2019-10-01 13:36:53 -07:00
Peli de Halleux	471ca5d915	1.2.19	2019-10-01 13:28:01 -07:00
Peli de Halleux	f745079728	Don't reset threashold when resetting color mode (#932 ) * don't reset threshold when changing modes * updated docs	2019-10-01 13:27:37 -07:00
Peli de Halleux	d179f18ef3	added gyro movies	2019-10-01 11:05:44 -07:00
Peli de Halleux	805fc6c787	1.2.18	2019-10-01 10:12:21 -07:00
Peli de Halleux	374bbb8304	Drift-compensated angle in gyro (#931 ) * compute angle based on undrifted rate * add is calibrating function * fix integrator * added example * docs * poll faster	2019-10-01 10:11:58 -07:00