move electron to v1.1.22

offline template
move master to 1.2.22
2019-10-07 14:23:34 -07:00 · 2019-10-07 14:22:05 -07:00 · 2019-10-02 13:59:58 -07:00 · 2019-10-02 13:53:22 -07:00 · 2019-10-02 13:27:53 -07:00 · 2019-10-02 12:40:45 -07:00
22 changed files with 566 additions and 238 deletions
--- a/docfiles/footer.html
+++ b/docfiles/footer.html
@@ -6,13 +6,13 @@
            <a class="item" href="https://makecode.com/privacy" target="_blank" rel="noopener">Privacy &amp; Cookies</a>
            <a class="item" href="https://makecode.com/termsofuse" target="_blank" rel="noopener"> Terms Of Use</a>
            <a class="item" href="https://makecode.com/trademarks" target="_blank" rel="noopener">Trademarks</a>
-            <div class="item">© 2018 Microsoft</div>
+            <div class="item">©2019 Microsoft</div>
        </div>
        <div class="ui container horizontal small divided link list">
            <a class="ui centered item" href="https://makecode.com/" title="Microsoft MakeCode" target="_blank" rel="noopener">Powered by Microsoft MakeCode</a>
        </div>
        <div class="ui centered container small list">
-            <p class="item">LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are trademarks and/ or copyrights of the LEGO Group. ©2018 The LEGO Group. All rights reserved.</p>
+            <p class="item">@copyrightText@</p>
        </div>
    </div>
 </footer>
--- 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/index-ref.json
+++ b/docs/index-ref.json
@@ -1,3 +1,3 @@
 {
-    "appref": "v1.2.15"
+    "appref": "v1.2.22"
 }
--- a/docs/offline-app.html
+++ b/docs/offline-app.html
@@ -3,11 +3,20 @@

 <head>
    <meta charset="UTF-8">
-    <title>LEGO® MINDSTORMS® Education EV3 Offline App</title>
-    <meta name="Description" content="A MakeCode for LEGO® MINDSTORMS® Education EV3 offline app" />
+    <title>@name@ Offline App</title>
+    <meta name="Description" content="A MakeCode for @name@ offline app" />
    <meta name="viewport" content="width=device-width, initial-scale=1.0">
-    <!-- @include indexhead.html -->
+    <link rel="stylesheet" data-rtl="/blb/rtlsemantic.css" href="/doccdn/semantic.css" />
+    <link rel="stylesheet" href="/docfiles/style.css" />
+    <link rel="stylesheet" href="/docfiles/target.css" />

+    <script src="/doccdn/jquery.js" type="text/javascript"></script>
+    <script src="/doccdn/semantic.js" type="text/javascript"></script>
+    <script src="/docfiles/target.js" type="text/javascript"></script>
+
+    <style>
+        @targetstyle@
+    </style>
    <style>
        p.item {
            color: rgba(0, 0, 0, 0.4);
@@ -55,6 +64,10 @@
            background-color: rgb(250, 250, 250);
        }

+        #legal-segment {
+            background:white;
+        }
+
        @media only screen and (max-width: 800px) {
            .grid .column .image {
                display: none;
@@ -368,34 +381,61 @@
    </style>

    <script>
-        $(document).ready(function () {
-            tickEvent = function (id, data) {
-                if (!pxt.aiTrackEvent) return;
-                if (!data) pxt.aiTrackEvent(id);
-                else {
-                    var props = {};
-                    var measures = {};
-                    for (var k in data)
-                        if (typeof data[k] == "string") props[k] = data[k];
-                        else measures[k] = data[k];
-                    pxt.aiTrackEvent(id, props, measures);
-                }
+        var electronLatestVersion = "";
+        function tickEvent(id, data) {
+            if (!pxt.aiTrackEvent) return;
+            if (!data) pxt.aiTrackEvent(id);
+            else {
+                var props = {};
+                var measures = {};
+                for (var k in data)
+                    if (typeof data[k] == "string") props[k] = data[k];
+                    else measures[k] = data[k];
+                pxt.aiTrackEvent(id, props, measures);
            }
-        });
+        }
+
        function agreeCheckboxChanged() {
-            var downloadSegment = document.getElementById("download-segment");
-            downloadSegment.classList.toggle("hidden");
+            showDownloads();
+        }
+
+        function showAgree() {
+            $("#agree-segment").removeClass("hidden");
+            $("#read-segment").removeClass("hidden");
+            $("#legal-segment").removeClass("hidden");
+}
+
+        function showNoDownloads() {
+            $("#no-download-segment").removeClass("hidden");
+            $("#read-segment").addClass("hidden");
+            $("#legal-segment").addClass("hidden");
+        }
+
+        function showDownloads() {
+            $("#download-win64").attr("href", "https://makecode.com/api/release/@targetid@/" + electronLatestVersion + "/win64");
+            $("#download-mac64").attr("href", "https://makecode.com/api/release/@targetid@/" + electronLatestVersion + "/mac64");
+            $("#download-segment").removeClass("hidden");
        }
        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");
-            tickEvent("offlineapp.download", { "target": "ev3", "platform": "win64" });
+            tickEvent("offlineapp.download", { "target": "@targetid@", "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");
-            tickEvent("offlineapp.download", { "target": "ev3", "platform": "mac64" });
+            tickEvent("offlineapp.download", { "target": "@targetid@", "platform": "mac64" });
        }
+        $(function () {
+            $.getJSON("https://makecode.com/api/config/@targetid@/targetconfig")
+                .then(function (data) {
+                    if (data && data.electronManifest && data.electronManifest.latest) {
+                        electronLatestVersion = data.electronManifest.latest;
+                        showAgree();
+                    } else {
+                        showNoDownloads();
+                    }
+                })
+                .catch(function () {
+                    showNoDownloads();
+                })
+        });
    </script>

 </head>
@@ -406,35 +446,39 @@

        <div class="ui grid topbar">
            <div class="three wide column">
-                <img class="ui small image left" src="/static//lego_education_logo_white.png" />
+                <img class="ui small image left" src="@cardLogo@" />
            </div>
            <div class="ten wide column">
-                <h1 class="ui inverted welcomeheader">MakeCode Offline App</h1>
+                <h1 class="ui inverted welcomeheader">@name@ Offline App</h1>
            </div>
            <div class="three wide column">
-                <img class="ui small image right" src="/static//Microsoft-logo_rgb_c-white.png" />
+                <img class="ui small image right" src="/static/Microsoft-logo_rgb_c-white.png" />
            </div>
        </div>

-        <div class="ui compact segments terms-container">
-            <div class="ui secondary center aligned segment">
+        <div id="segments" class="ui compact segments terms-container">
+            <div id="read-segment" class="ui secondary center aligned segment hidden">
                Please read and accept the following terms to download the app.
            </div>
-            <div class="ui left aligned segment terms">
+            <div id="legal-segment" class="ui left aligned segment terms hidden">
+                <div id="loader" class="ui active loader"></div>
                <div class="c17">
                    <p class="c11">
                        <span class="c4 c1">MICROSOFT PRE-RELEASE SOFTWARE LICENSE TERMS</span>
                    </p>
                    <p class="c11">
-                        <span class="c4 c1">MICROSOFT MAKECODE FOR LEGO MINDSTORMS EDUCATION EV3</span>
+                        <span class="c4 c1">MICROSOFT MAKECODE SOFTWARE FOR @name@</span>
                    </p>
                    <p class="c7">
                        <span class="c4 c1"></span>
                    </p>
                    <p class="c11">
-                        <span class="c3 c1">These license terms are an agreement between Microsoft Corporation (or based on where you live, one
-                            of its affiliates) and you. They apply to the software named above. The terms also apply to any
-                            Microsoft services or updates for the software, except to the extent those have additional terms.</span>
+                        <span class="c3 c1">These license terms are an agreement between Microsoft Corporation (or based
+                            on where you live, one
+                            of its affiliates) and you. They apply to the software named above. The terms also apply to
+                            any
+                            Microsoft services or updates for the software, except to the extent those have additional
+                            terms.</span>
                    </p>
                    <p class="c7">
                        <span class="c3 c1"></span>
@@ -446,27 +490,35 @@
                        <span class="c5 c1">1.</span>
                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
                        <span class="c5 c1">INSTALLATION AND USE RIGHTS. </span>
-                        <span class="c3 c1">You may install and use any number of copies of the software to evaluate it as you develop and test
-                            your software applications for use with Lego Mindstorms Education EV3 hardware.</span>
+                        <span class="c3 c1">You may install and use any number of copies of the software to evaluate it
+                            as you develop and test
+                            your software applications for use with @name@ hardware.</span>
                    </p>
                    <p class="c2">
                        <span class="c5 c1">2.</span>
                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
                        <span class="c5 c1">PRE-RELEASE SOFTWARE. </span>
-                        <span class="c3 c1">The software is a pre-release version. It may not work the way a final version of the software will.
-                            Microsoft may change it for the final, commercial version. We also may not release a commercial
-                            version. Microsoft is not obligated to provide maintenance, technical support or updates to you
+                        <span class="c3 c1">The software is a pre-release version. It may not work the way a final
+                            version of the software will.
+                            Microsoft may change it for the final, commercial version. We also may not release a
+                            commercial
+                            version. Microsoft is not obligated to provide maintenance, technical support or updates to
+                            you
                            for the software.</span>
                    </p>
                    <p class="c2">
                        <span class="c5 c1">3.</span>
                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
                        <span class="c5 c1">ASSOCIATED ONLINE SERVICES.</span>
-                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Some features of the software provide access 
-                            to, or rely on, online services to provide you information about updates to the software or extensions, 
-                            or to enable you to retrieve content, collaborate with others, or otherwise supplement your development 
-                            experience.  As used throughout these license terms, the term <q>software</q> includes these online 
-                            services and features. By using these online services and features you consent to the to the 
+                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Some features of the software
+                            provide access
+                            to, or rely on, online services to provide you information about updates to the software or
+                            extensions,
+                            or to enable you to retrieve content, collaborate with others, or otherwise supplement your
+                            development
+                            experience. As used throughout these license terms, the term <q>software</q> includes these
+                            online
+                            services and features. By using these online services and features you consent to the to the
                            transmission of information as described in Section 5, DATA.
                        </span>
                    </p>
@@ -474,9 +526,11 @@
                        <span class="c5 c1">4.</span>
                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
                        <span class="c5 c1">LICENSES FOR OTHER COMPONENTS.</span>
-                        <span class="c3 c1">&nbsp;The software may include third party components with separate legal notices or governed by
+                        <span class="c3 c1">&nbsp;The software may include third party components with separate legal
+                            notices or governed by
                            other agreements, as described in the ThirdPartyNotices file accompanying the software. Even
-                            if such components are governed by other agreements, the disclaimers and the limitations on and
+                            if such components are governed by other agreements, the disclaimers and the limitations on
+                            and
                            exclusions of damages below also apply.</span>
                    </p>
                    <p class="c2">
@@ -488,26 +542,35 @@
                        <span class="c5 c1">a.</span>
                        <span class="c1">&nbsp; &nbsp;</span>
                        <span class="c1 c5">Data Collection. </span>
-                        <span class="c1">The software may collect information about you and your use of the software, and send that to Microsoft.
-                            Microsoft may use this information to provide services and improve our products and services.
-                            You may opt out of many of these scenarios, but not all, as described in the product documentation.
-                            In using the software, you must comply with applicable law. You can learn more about data collection
+                        <span class="c1">The software may collect information about you and your use of the software,
+                            and send that to Microsoft.
+                            Microsoft may use this information to provide services and improve our products and
+                            services.
+                            You may opt out of many of these scenarios, but not all, as described in the product
+                            documentation.
+                            In using the software, you must comply with applicable law. You can learn more about data
+                            collection
                            and use in the help documentation and the privacy statement at </span>
                        <span class="c14 c1">
-                            <a class="c9" href="http://go.microsoft.com/fwlink/?LinkId=398505">http://go.microsoft.com/fwlink/?LinkId=398505</a>
+                            <a class="c9"
+                                href="http://go.microsoft.com/fwlink/?LinkId=398505">http://go.microsoft.com/fwlink/?LinkId=398505</a>
                        </span>
                        <span class="c1">.</span>
-                        <span class="c3 c1">&nbsp;Your use of the software operates as your consent to these practices.</span>
+                        <span class="c3 c1">&nbsp;Your use of the software operates as your consent to these
+                            practices.</span>
                    </p>
                    <p class="c8">
                        <span class="c5 c1">b.</span>
                        <span class="c1">&nbsp; &nbsp;</span>
                        <span class="c5 c1">Processing of Personal Data. </span>
-                        <span class="c1">To the extent Microsoft is a processor or subprocessor of personal data in connection with the software,
-                            Microsoft makes the commitments in the European Union General Data Protection Regulation Terms
+                        <span class="c1">To the extent Microsoft is a processor or subprocessor of personal data in
+                            connection with the software,
+                            Microsoft makes the commitments in the European Union General Data Protection Regulation
+                            Terms
                            of the Online Services Terms to all customers effective May 25, 2018, at </span>
                        <span class="c1 c14">
-                            <a class="c9" href="http://go.microsoft.com/?linkid=9840733">http://go.microsoft.com/?linkid=9840733</a>
+                            <a class="c9"
+                                href="http://go.microsoft.com/?linkid=9840733">http://go.microsoft.com/?linkid=9840733</a>
                        </span>
                        <span class="c3 c1">.</span>
                    </p>
@@ -515,48 +578,62 @@
                        <span class="c5 c1">6.</span>
                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
                        <span class="c5 c1">FEEDBACK. </span>
-                        <span class="c3 c1">If you give feedback about the software to Microsoft, you give to Microsoft, without charge, the
+                        <span class="c3 c1">If you give feedback about the software to Microsoft, you give to Microsoft,
+                            without charge, the
                            right to use, share and commercialize your feedback in any way and for any purpose. You will
-                            not give feedback that is subject to a license that requires Microsoft to license its software
-                            or documentation to third parties because we include your feedback in them. These rights survive
+                            not give feedback that is subject to a license that requires Microsoft to license its
+                            software
+                            or documentation to third parties because we include your feedback in them. These rights
+                            survive
                            this agreement.</span>
                    </p>
                    <p class="c2">
                        <span class="c5 c1">7.</span>
                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
                        <span class="c5 c1">SCOPE OF LICENSE.</span>
-                        <span class="c3 c1">&nbsp;The software is licensed, not sold. This agreement only gives you some rights to use the software.
-                            Microsoft reserves all other rights. Unless applicable law gives you more rights despite this
+                        <span class="c3 c1">&nbsp;The software is licensed, not sold. This agreement only gives you some
+                            rights to use the software.
+                            Microsoft reserves all other rights. Unless applicable law gives you more rights despite
+                            this
                            limitation, you may use the software only as expressly permitted in this agreement. &nbsp;In
                            doing so, you must comply with any technical limitations in the software that only allow you
                            to use it in certain ways. You may not:</span>
                    </p>
                    <p class="c8">
-                        <span class="c3 c1">- &nbsp; &nbsp; work around any technical limitations in the software;</span>
+                        <span class="c3 c1">- &nbsp; &nbsp; work around any technical limitations in the
+                            software;</span>
                    </p>
                    <p class="c8">
-                        <span class="c3 c1">- &nbsp; &nbsp; reverse engineer, decompile or disassemble the software, or attempt to do so, except
+                        <span class="c3 c1">- &nbsp; &nbsp; reverse engineer, decompile or disassemble the software, or
+                            attempt to do so, except
                            and only to the extent required by third party licensing terms governing use of certain open
                            source components that may be included with the software;</span>
                    </p>
                    <p class="c8">
-                        <span class="c3 c1">- &nbsp; &nbsp; remove, minimize, block or modify any notices of Microsoft or its suppliers in the
+                        <span class="c3 c1">- &nbsp; &nbsp; remove, minimize, block or modify any notices of Microsoft
+                            or its suppliers in the
                            software;
                        </span>
                    </p>
                    <p class="c8">
-                        <span class="c3 c1">- &nbsp; &nbsp; use the software in any way that is against the law; or</span>
+                        <span class="c3 c1">- &nbsp; &nbsp; use the software in any way that is against the law;
+                            or</span>
                    </p>
                    <p class="c8">
-                        <span class="c3 c1">- &nbsp; &nbsp; share, publish, rent or lease the software, or provide the software as a stand-alone
+                        <span class="c3 c1">- &nbsp; &nbsp; share, publish, rent or lease the software, or provide the
+                            software as a stand-alone
                            offering for others to use.</span>
                    </p>
                    <p class="c2">
                        <span class="c5 c1">8. &nbsp; UPDATES. </span>
-                        <span class="c3 c1">The software may periodically check for updates and download and install them for you. You may obtain
-                            updates only from Microsoft or authorized sources. Microsoft may need to update your system to
-                            provide you with updates. You agree to receive these automatic updates without any additional
-                            notice. Updates may not include or support all existing software features, services, or peripheral
+                        <span class="c3 c1">The software may periodically check for updates and download and install
+                            them for you. You may obtain
+                            updates only from Microsoft or authorized sources. Microsoft may need to update your system
+                            to
+                            provide you with updates. You agree to receive these automatic updates without any
+                            additional
+                            notice. Updates may not include or support all existing software features, services, or
+                            peripheral
                            devices.
                        </span>
                    </p>
@@ -564,57 +641,74 @@
                        <span class="c5 c1">9.</span>
                        <span class="c1">&nbsp; &nbsp;</span>
                        <span class="c5 c1">EXPORT RESTRICTIONS.</span>
-                        <span class="c3 c1">&nbsp;You must comply with all domestic and international export laws and regulations that apply
-                            to the software, which include restrictions on destinations, end users and end use. For further
+                        <span class="c3 c1">&nbsp;You must comply with all domestic and international export laws and
+                            regulations that apply
+                            to the software, which include restrictions on destinations, end users and end use. For
+                            further
                            information on export restrictions, visit (aka.ms/exporting).</span>
                    </p>
                    <p class="c2">
                        <span class="c5 c1">10.</span>
                        <span class="c1">&nbsp;</span>
                        <span class="c5 c1">SUPPORT SERVICES. </span>
-                        <span class="c3 c1">Because the software is &ldquo;as is,&rdquo; we may not provide support services for it.</span>
+                        <span class="c3 c1">Because the software is &ldquo;as is,&rdquo; we may not provide support
+                            services for it.</span>
                    </p>
                    <p class="c2">
                        <span class="c5 c1">11.</span>
                        <span class="c1">&nbsp;</span>
                        <span class="c5 c1">ENTIRE AGREEMENT.</span>
-                        <span class="c3 c1">&nbsp;This agreement, and the terms for supplements, updates, Internet-based services and support
-                            services that you use, are the entire agreement for the software and support services.</span>
+                        <span class="c3 c1">&nbsp;This agreement, and the terms for supplements, updates, Internet-based
+                            services and support
+                            services that you use, are the entire agreement for the software and support
+                            services.</span>
                    </p>
                    <p class="c2">
                        <span class="c5 c1">12.</span>
                        <span class="c1">&nbsp;</span>
                        <span class="c5 c1">APPLICABLE LAW. </span>
-                        <span class="c3 c1">If you acquired the software in the United States, Washington State law applies to interpretation
-                            of and claims for breach of this agreement, and the laws of the state where you live apply to
+                        <span class="c3 c1">If you acquired the software in the United States, Washington State law
+                            applies to interpretation
+                            of and claims for breach of this agreement, and the laws of the state where you live apply
+                            to
                            all other claims. If you acquired the software in any other country, its laws apply.</span>
                    </p>
                    <p class="c2">
                        <span class="c5 c1">13.</span>
                        <span class="c1">&nbsp;</span>
                        <span class="c5 c1">CONSUMER RIGHTS; REGIONAL VARIATIONS. </span>
-                        <span class="c3 c1">This agreement describes certain legal rights. You may have other rights, including consumer rights,
-                            under the laws of your state or country. Separate and apart from your relationship with Microsoft,
-                            you may also have rights with respect to the party from which you acquired the software. This
-                            agreement does not change those other rights if the laws of your state or country do not permit
-                            it to do so. For example, if you acquired the software in one of the below regions, or mandatory
+                        <span class="c3 c1">This agreement describes certain legal rights. You may have other rights,
+                            including consumer rights,
+                            under the laws of your state or country. Separate and apart from your relationship with
+                            Microsoft,
+                            you may also have rights with respect to the party from which you acquired the software.
+                            This
+                            agreement does not change those other rights if the laws of your state or country do not
+                            permit
+                            it to do so. For example, if you acquired the software in one of the below regions, or
+                            mandatory
                            country law applies, then the following provisions apply to you:</span>
                    </p>
                    <p class="c8">
                        <span class="c5 c1">a.</span>
                        <span class="c1">&nbsp; &nbsp;</span>
                        <span class="c5 c1">Australia. </span>
-                        <span class="c3 c1">You have statutory guarantees under the Australian Consumer Law and nothing in this agreement is
+                        <span class="c3 c1">You have statutory guarantees under the Australian Consumer Law and nothing
+                            in this agreement is
                            intended to affect those rights.</span>
                    </p>
                    <p class="c8">
                        <span class="c5 c1">b.</span>
                        <span class="c1">&nbsp; &nbsp;</span>
                        <span class="c5 c1">Canada. </span>
-                        <span class="c3 c1">If you acquired the software in Canada, you may stop receiving updates by turning off the automatic
-                            update feature, disconnecting your device from the Internet (if and when you re-connect to the
-                            Internet, however, the software will resume checking for and installing updates), or uninstalling
-                            the software. The product documentation, if any, may also specify how to turn off updates for
+                        <span class="c3 c1">If you acquired the software in Canada, you may stop receiving updates by
+                            turning off the automatic
+                            update feature, disconnecting your device from the Internet (if and when you re-connect to
+                            the
+                            Internet, however, the software will resume checking for and installing updates), or
+                            uninstalling
+                            the software. The product documentation, if any, may also specify how to turn off updates
+                            for
                            your specific device or software.</span>
                    </p>
                    <p class="c8">
@@ -627,8 +721,10 @@
                        <span class="c5 c1">(i)</span>
                        <span class="c1">&nbsp; &nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
                        <span class="c5 c1">Warranty</span>
-                        <span class="c3 c1">. The properly licensed software will perform substantially as described in any Microsoft materials
-                            that accompany the software. However, Microsoft gives no contractual guarantee in relation to
+                        <span class="c3 c1">. The properly licensed software will perform substantially as described in
+                            any Microsoft materials
+                            that accompany the software. However, Microsoft gives no contractual guarantee in relation
+                            to
                            the licensed software.</span>
                    </p>
                    <p class="c6">
@@ -638,74 +734,103 @@
                        <span class="c5 c1">(ii)</span>
                        <span class="c1">&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;</span>
                        <span class="c5 c1">Limitation of Liability</span>
-                        <span class="c3 c1">. In case of intentional conduct, gross negligence, claims based on the Product Liability Act, as
-                            well as, in case of death or personal or physical injury, Microsoft is liable according to the
+                        <span class="c3 c1">. In case of intentional conduct, gross negligence, claims based on the
+                            Product Liability Act, as
+                            well as, in case of death or personal or physical injury, Microsoft is liable according to
+                            the
                            statutory law.</span>
                    </p>
                    <p class="c10">
-                        <span class="c3 c1">Subject to the foregoing clause (ii), Microsoft will only be liable for slight negligence if Microsoft
-                            is in breach of such material contractual obligations, the fulfillment of which facilitate the
-                            due performance of this agreement, the breach of which would endanger the purpose of this agreement
-                            and the compliance with which a party may constantly trust in (so-called &quot;cardinal obligations&quot;).
-                            In other cases of slight negligence, Microsoft will not be liable for slight negligence.</span>
+                        <span class="c3 c1">Subject to the foregoing clause (ii), Microsoft will only be liable for
+                            slight negligence if Microsoft
+                            is in breach of such material contractual obligations, the fulfillment of which facilitate
+                            the
+                            due performance of this agreement, the breach of which would endanger the purpose of this
+                            agreement
+                            and the compliance with which a party may constantly trust in (so-called &quot;cardinal
+                            obligations&quot;).
+                            In other cases of slight negligence, Microsoft will not be liable for slight
+                            negligence.</span>
                    </p>
                    <p class="c2">
                        <span class="c5 c1">14.</span>
                        <span class="c1">&nbsp;</span>
                        <span class="c5 c1">LEGAL EFFECT.</span>
-                        <span class="c3 c1">&nbsp;This agreement describes certain legal rights. You may have other rights under the laws of
-                            your country. You may also have rights with respect to the party from whom you acquired the software.
-                            This agreement does not change your rights under the laws of your country if the laws of your
+                        <span class="c3 c1">&nbsp;This agreement describes certain legal rights. You may have other
+                            rights under the laws of
+                            your country. You may also have rights with respect to the party from whom you acquired the
+                            software.
+                            This agreement does not change your rights under the laws of your country if the laws of
+                            your
                            country do not permit it to do so.</span>
                    </p>
                    <p class="c2">
                        <span class="c5 c1">15.</span>
                        <span class="c1">&nbsp;</span>
-                        <span class="c4 c1">DISCLAIMER OF WARRANTY. THE SOFTWARE IS LICENSED &ldquo;AS-IS.&rdquo; &nbsp;YOU BEAR THE RISK OF
-                            USING IT. MICROSOFT GIVES NO EXPRESS WARRANTIES, GUARANTEES OR CONDITIONS. TO THE EXTENT PERMITTED
+                        <span class="c4 c1">DISCLAIMER OF WARRANTY. THE SOFTWARE IS LICENSED &ldquo;AS-IS.&rdquo;
+                            &nbsp;YOU BEAR THE RISK OF
+                            USING IT. MICROSOFT GIVES NO EXPRESS WARRANTIES, GUARANTEES OR CONDITIONS. TO THE EXTENT
+                            PERMITTED
                            UNDER YOUR LOCAL LAWS, MICROSOFT EXCLUDES THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS
                            FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT.</span>
                    </p>
                    <p class="c2">
                        <span class="c5 c1">16.</span>
                        <span class="c1">&nbsp;</span>
-                        <span class="c4 c1">LIMITATION ON AND EXCLUSION OF DAMAGES. YOU CAN RECOVER FROM MICROSOFT AND ITS SUPPLIERS ONLY DIRECT
-                            DAMAGES UP TO U.S. $5.00. YOU CANNOT RECOVER ANY OTHER DAMAGES, INCLUDING CONSEQUENTIAL, LOST
+                        <span class="c4 c1">LIMITATION ON AND EXCLUSION OF DAMAGES. YOU CAN RECOVER FROM MICROSOFT AND
+                            ITS SUPPLIERS ONLY DIRECT
+                            DAMAGES UP TO U.S. $5.00. YOU CANNOT RECOVER ANY OTHER DAMAGES, INCLUDING CONSEQUENTIAL,
+                            LOST
                            PROFITS, SPECIAL, INDIRECT OR INCIDENTAL DAMAGES.</span>
                    </p>
                    <p class="c0">
-                        <span class="c3 c1">This limitation applies to (a) anything related to the software, services, content (including code)
-                            on third party Internet sites, or third party programs; and (b) claims for breach of contract,
-                            breach of warranty, guarantee or condition, strict liability, negligence, or other tort to the
+                        <span class="c3 c1">This limitation applies to (a) anything related to the software, services,
+                            content (including code)
+                            on third party Internet sites, or third party programs; and (b) claims for breach of
+                            contract,
+                            breach of warranty, guarantee or condition, strict liability, negligence, or other tort to
+                            the
                            extent permitted by applicable law.</span>
                    </p>
                    <p class="c0">
-                        <span class="c3 c1">It also applies even if Microsoft knew or should have known about the possibility of the damages.
-                            The above limitation or exclusion may not apply to you because your country may not allow the
+                        <span class="c3 c1">It also applies even if Microsoft knew or should have known about the
+                            possibility of the damages.
+                            The above limitation or exclusion may not apply to you because your country may not allow
+                            the
                            exclusion or limitation of incidental, consequential or other damages.</span>
                    </p>
                    <p class="c12">
-                        <span class="c4 c1">Please note: As the software is distributed in Quebec, Canada, some of the clauses in this agreement
+                        <span class="c4 c1">Please note: As the software is distributed in Quebec, Canada, some of the
+                            clauses in this agreement
                            are provided below in French.</span>
                    </p>
                    <p class="c12">
-                        <span class="c4 c1">Remarque : Ce logiciel &eacute;tant distribu&eacute; au Qu&eacute;bec, Canada, certaines des clauses
+                        <span class="c4 c1">Remarque : Ce logiciel &eacute;tant distribu&eacute; au Qu&eacute;bec,
+                            Canada, certaines des clauses
                            dans ce contrat sont fournies ci-dessous en fran&ccedil;ais.</span>
                    </p>
                    <p class="c11">
                        <span class="c5 c1">EXON&Eacute;RATION DE GARANTIE.</span>
-                        <span class="c1 c3">&nbsp;Le logiciel vis&eacute; par une licence est offert &laquo; tel quel &raquo;. Toute utilisation
-                            de ce logiciel est &agrave; votre seule risque et p&eacute;ril. Microsoft n&rsquo;accorde aucune
-                            autre garantie expresse. Vous pouvez b&eacute;n&eacute;ficier de droits additionnels en vertu
-                            du droit local sur la protection des consommateurs, que ce contrat ne peut modifier. La ou elles
-                            sont permises par le droit locale, les garanties implicites de qualit&eacute; marchande, d&rsquo;ad&eacute;quation
+                        <span class="c1 c3">&nbsp;Le logiciel vis&eacute; par une licence est offert &laquo; tel quel
+                            &raquo;. Toute utilisation
+                            de ce logiciel est &agrave; votre seule risque et p&eacute;ril. Microsoft n&rsquo;accorde
+                            aucune
+                            autre garantie expresse. Vous pouvez b&eacute;n&eacute;ficier de droits additionnels en
+                            vertu
+                            du droit local sur la protection des consommateurs, que ce contrat ne peut modifier. La ou
+                            elles
+                            sont permises par le droit locale, les garanties implicites de qualit&eacute; marchande,
+                            d&rsquo;ad&eacute;quation
                            &agrave; un usage particulier et d&rsquo;absence de contrefa&ccedil;on sont exclues.
                        </span>
                    </p>
                    <p class="c11">
-                        <span class="c5 c1">LIMITATION DES DOMMAGES-INT&Eacute;R&Ecirc;TS ET EXCLUSION DE RESPONSABILIT&Eacute; POUR LES DOMMAGES.</span>
-                        <span class="c3 c1">&nbsp;Vous pouvez obtenir de Microsoft et de ses fournisseurs une indemnisation en cas de dommages
-                            directs uniquement &agrave; hauteur de 5,00 $ US. Vous ne pouvez pr&eacute;tendre &agrave; aucune
+                        <span class="c5 c1">LIMITATION DES DOMMAGES-INT&Eacute;R&Ecirc;TS ET EXCLUSION DE
+                            RESPONSABILIT&Eacute; POUR LES DOMMAGES.</span>
+                        <span class="c3 c1">&nbsp;Vous pouvez obtenir de Microsoft et de ses fournisseurs une
+                            indemnisation en cas de dommages
+                            directs uniquement &agrave; hauteur de 5,00 $ US. Vous ne pouvez pr&eacute;tendre &agrave;
+                            aucune
                            indemnisation pour les autres dommages, y compris les dommages sp&eacute;ciaux, indirects ou
                            accessoires et pertes de b&eacute;n&eacute;fices.</span>
                    </p>
@@ -713,26 +838,36 @@
                        <span class="c3 c1">Cette limitation concerne :</span>
                    </p>
                    <p class="c2">
-                        <span class="c3 c1">- &nbsp; &nbsp; &nbsp; &nbsp; tout ce qui est reli&eacute; au logiciel, aux services ou au contenu
-                            (y compris le code) figurant sur des sites Internet tiers ou dans des programmes tiers ; et</span>
+                        <span class="c3 c1">- &nbsp; &nbsp; &nbsp; &nbsp; tout ce qui est reli&eacute; au logiciel, aux
+                            services ou au contenu
+                            (y compris le code) figurant sur des sites Internet tiers ou dans des programmes tiers ;
+                            et</span>
                    </p>
                    <p class="c2">
-                        <span class="c3 c1">- &nbsp; &nbsp; &nbsp; &nbsp; les r&eacute;clamations au titre de violation de contrat ou de garantie,
-                            ou au titre de responsabilit&eacute; stricte, de n&eacute;gligence ou d&rsquo;une autre faute
+                        <span class="c3 c1">- &nbsp; &nbsp; &nbsp; &nbsp; les r&eacute;clamations au titre de violation
+                            de contrat ou de garantie,
+                            ou au titre de responsabilit&eacute; stricte, de n&eacute;gligence ou d&rsquo;une autre
+                            faute
                            dans la limite autoris&eacute;e par la loi en vigueur.</span>
                    </p>
                    <p class="c12">
-                        <span class="c3 c1">Elle s&rsquo;applique &eacute;galement, m&ecirc;me si Microsoft connaissait ou devrait conna&icirc;tre
+                        <span class="c3 c1">Elle s&rsquo;applique &eacute;galement, m&ecirc;me si Microsoft connaissait
+                            ou devrait conna&icirc;tre
                            l&rsquo;&eacute;ventualit&eacute; d&rsquo;un tel dommage. Si votre pays n&rsquo;autorise pas
-                            l&rsquo;exclusion ou la limitation de responsabilit&eacute; pour les dommages indirects, accessoires
-                            ou de quelque nature que ce soit, il se peut que la limitation ou l&rsquo;exclusion ci-dessus
+                            l&rsquo;exclusion ou la limitation de responsabilit&eacute; pour les dommages indirects,
+                            accessoires
+                            ou de quelque nature que ce soit, il se peut que la limitation ou l&rsquo;exclusion
+                            ci-dessus
                            ne s&rsquo;appliquera pas &agrave; votre &eacute;gard.</span>
                    </p>
                    <p class="c16">
                        <span class="c5 c1">EFFET JURIDIQUE.</span>
-                        <span class="c3 c1">&nbsp;Le pr&eacute;sent contrat d&eacute;crit certains droits juridiques. Vous pourriez avoir d&rsquo;autres
-                            droits pr&eacute;vus par les lois de votre pays. Le pr&eacute;sent contrat ne modifie pas les
-                            droits que vous conf&egrave;rent les lois de votre pays si celles-ci ne le permettent pas.</span>
+                        <span class="c3 c1">&nbsp;Le pr&eacute;sent contrat d&eacute;crit certains droits juridiques.
+                            Vous pourriez avoir d&rsquo;autres
+                            droits pr&eacute;vus par les lois de votre pays. Le pr&eacute;sent contrat ne modifie pas
+                            les
+                            droits que vous conf&egrave;rent les lois de votre pays si celles-ci ne le permettent
+                            pas.</span>
                    </p>
                    <p class="c15">
                        <span class="c3 c1"></span>
@@ -740,9 +875,9 @@
                    <p class="c16">
                        <span class="c3 c1">&nbsp;</span>
                    </p>
+
                    <p class="c11">
-                        <span class="c3 c1">LEGO, the LEGO logo, MINDSTORMS and the MINDSTORMS EV3 logo are trademarks and/ or copyrights of
-                            the LEGO Group. &copy;2018 The LEGO Group. All rights reserved.</span>
+                        <span class="c3 c1">@copyrightText@</span>
                    </p>
                    <p class="c11">
                        <span class="c3 c1">&nbsp;</span>
@@ -755,27 +890,30 @@
                    </p>
                </div>
            </div>
-            <div class="ui center aligned segment">
+            <div id="agree-segment" class="ui center aligned segment hidden">
                <input id="agree-checkbox" type="checkbox" autocomplete="off" onchange="agreeCheckboxChanged(this)">
                <label for="agree-checkbox">I agree to these Microsoft Software License Terms and to the
                    <a href="https://privacy.microsoft.com/en-us/privacystatement">Microsoft Privacy Statement.</a>
                </label>
            </div>
+            <div id="no-download-segment" class="ui center aligned segment hidden">
+                <p>Sorry, there is no Offline App available for this editor.</p>
+            </div>
            <div id="download-segment" class="ui center aligned segment hidden">
                <div class="ui grid">
                    <div class="eight wide column">
                        <h3 class="ui">Windows</h3>
-                        <button class="ui icon button" onclick="downloadWin64()">
+                        <a id="download-win64" class="ui icon button" onclick="downloadWin64()">
                            <i class="download icon"></i>
-                            makecode-ev3-setup-win64.exe
-                        </button>
+                            makecode-@targetid@-setup-win64.exe
+                        </a>
                    </div>
                    <div class="eight wide column">
                        <h3 class="ui">Mac OS</h3>
-                        <button class="ui icon button" onclick="downloadMac64()">
+                        <a id="download-mac64" class="ui icon button" onclick="downloadMac64()">
                            <i class="download icon"></i>
-                            makecode-ev3-mac64.zip
-                        </button>
+                            makecode-@targetid@-mac64.zip
+                        </a>
                    </div>
                </div>
            </div>
@@ -788,4 +926,4 @@

 </body>

-</html>
+</html>
--- 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/libs/color-sensor/color.ts
+++ b/libs/color-sensor/color.ts
@@ -73,13 +73,7 @@ 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)
        }

--- 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() {
@@ -121,7 +121,7 @@ namespace sensors.internal {

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

-        devPoller = new Poller(500, () => { return hashDevices(); },
+        devPoller = new Poller(250, () => { return hashDevices(); },
            (prev, curr) => {
                detectDevices();
            });
@@ -814,10 +814,10 @@ 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
@@ -524,6 +524,7 @@ void stopProgram() {
 }

 extern "C" void target_reset() {
+    pthread_mutex_trylock(&execMutex);
    stopMotors();
    stopProgram();
    if (lmsPid)
--- a/libs/core/output.ts
+++ b/libs/core/output.ts
@@ -264,8 +264,9 @@ 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 +276,6 @@ namespace motors {
                // allow robot to settle
                this.settle();
            } else {
-                // give a breather to the event system in tight loops
                pause(1);
            }
        }
--- a/libs/core/pxt.json
+++ b/libs/core/pxt.json
@@ -25,7 +25,8 @@
        "dal.d.ts",
        "icons.jres",
        "ns.ts",
-        "platform.h"
+        "platform.h",
+        "integrator.ts"
    ],
    "testFiles": [
        "test.ts"
--- 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/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
  "name": "pxt-ev3",
-  "version": "1.2.17",
+  "version": "1.2.22",
  "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
  "private": false,
  "keywords": [
--- a/sim/state/gyro.ts
+++ b/sim/state/gyro.ts
@@ -8,7 +8,6 @@ namespace pxsim {
    export class GyroSensorNode extends UartSensorNode {
        id = NodeType.GyroSensor;

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

        constructor(port: number) {
@@ -19,14 +18,6 @@ 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 +26,12 @@ 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/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/targetconfig.json
+++ b/targetconfig.json
@@ -18,7 +18,7 @@
        "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",
@@ -27,6 +27,6 @@
        "Videos": "videos"
    },
    "electronManifest": {
-        "latest": "v1.1.20"
+        "latest": "v1.1.22"
    }
 }
Author	SHA1	Message	Date
Peli de Halleux	8fd0bf92fa	move electron to v1.1.22	2019-10-07 14:23:34 -07:00
Peli de Halleux	a33bff0520	offline template	2019-10-07 14:22:05 -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