driving base sim

docs/coding/ignition.md

@@ -27,6 +27,7 @@ while (true) {
         music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
         music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
     }
+    pause(1);
 }
 ```
 
@@ -42,5 +43,6 @@ while (true) {
         music.playSoundEffectUntilDone(sounds.mechanicalMotorStart)
         music.playSoundEffectUntilDone(sounds.mechanicalMotorIdle);
     }
+    pause(1);
 }
 ```

docs/fll.md

@@ -35,13 +35,6 @@ 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.
@@ -105,12 +98,6 @@ 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.

docs/getting-started/try.md

@@ -54,12 +54,6 @@ 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.

docs/index-ref.json

@@ -1,3 +1,3 @@
 {
-    "appref": "v1.2.22"
+    "appref": "v1.2.18"
 }

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/v1.2.22/win64");
+            window.open("https://makecode.com/api/release/ev3/v1.1.20/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/v1.2.22/mac64");
+            window.open("https://makecode.com/api/release/ev3/v1.1.20/mac64");
             tickEvent("offlineapp.download", { "target": "ev3", "platform": "mac64" });
         }
     </script>

docs/reference/brick/exit-program.md

@@ -1,18 +0,0 @@
-# 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();
-```

docs/tutorials/city-shaper.md

@@ -36,14 +36,6 @@
     "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"
 }]
 ```
 

editor/deploy.ts

@@ -64,7 +64,6 @@ class WebSerialPackageIO implements pxt.HF2.PacketIO {
     private _writer: any;
 
     constructor(private port: SerialPort, private options: SerialOptions) {
-        console.log(`serial: new io`)
     }
 
     async readSerialAsync() {
@@ -91,24 +90,17 @@ class WebSerialPackageIO implements pxt.HF2.PacketIO {
         return !!(<any>navigator).serial;
     }
 
-    static portIos: WebSerialPackageIO[] = [];
     static async mkPacketIOAsync(): Promise<pxt.HF2.PacketIO> {
         const serial = (<any>navigator).serial;
         if (serial) {
             try {
                 const requestOptions: SerialPortRequestOptions = {};
                 const port = await serial.requestPort(requestOptions);
-
-                let io = WebSerialPackageIO.portIos.filter(i => i.port == port)[0];
-                if (!io) {
                 const options: SerialOptions = {
                     baudrate: 460800,
                     buffersize: 4096
                 };
-                    io = new WebSerialPackageIO(port, options);
+                return new WebSerialPackageIO(port, options);
-                    WebSerialPackageIO.portIos.push(io);
-                }
-                return io;
             } catch (e) {
                 console.log(`connection error`, e)
             }
@@ -133,8 +125,11 @@ class WebSerialPackageIO implements pxt.HF2.PacketIO {
             });
     }
 
-    private async closeAsync() {
+    private closeAsync() {
-        // don't close port
+        console.log(`serial: closing port`);
+        this.port.close();
+        this._reader = undefined;
+        this._writer = undefined;
         return Promise.delay(500);
     }
 

fieldeditors/field_motors.ts

@@ -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"),
+            'medium motor': lf('medium motor'),
-            'large motor': lf("large motor"),
+            'large motor': lf('large motor'),
-            'large motors': lf("large motors")
+            'large motors': lf('large motors')
         }
         return motorOptions[firstValue];
     }

libs/color-sensor/color.ts

@@ -1,4 +1,5 @@
 const enum ColorSensorMode {
+    None = 0,
     //% block="reflected light intensity"
     ReflectedLightIntensity = 0,
     //% block="ambient light intensity"
@@ -58,6 +59,7 @@ namespace sensors {
 
         constructor(port: number) {
             super(port)
+            this._setMode(ColorSensorMode.None);
             this.thresholdDetector = new sensors.ThresholdDetector(this.id());
             this.calibrating = false;
         }
@@ -179,22 +181,6 @@ 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

libs/color-sensor/docs/reference/sensors/color-sensor/is-color-detected.md

@@ -1,30 +0,0 @@
-# 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)

libs/core/battery.ts

@@ -26,7 +26,6 @@ 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();

libs/core/buttons.ts

@@ -85,7 +85,7 @@ namespace brick {
         //% blockId=buttonIsPressed
         //% parts="brick"
         //% blockNamespace=brick
-        //% weight=81
+        //% weight=81 blockGap=8
         //% group="Buttons"
         //% button.fieldEditor="brickbuttons"
         isPressed() {

libs/core/cooperate.ts

@@ -1,11 +0,0 @@
-namespace control {
-    let lastPause = 0;
-    const COOPERATION_INTERVAL = 20
-    export function cooperate() {
-        const now = control.millis()
-        if (now - lastPause > COOPERATION_INTERVAL) {
-            lastPause = now
-            pause(1)
-        }
-    }
-}

libs/core/input.ts

@@ -21,7 +21,8 @@ namespace sensors.internal {
             const now = control.millis();
             if (now - this.lastQuery >= this.interval * 2)
                 this.queryAndUpdate(); // sensor poller is not allowed to run
-            control.cooperate(); // allow events to trigger
+            if (now - this.lastPause >= this.interval * 5)
+                pause(1); // allow events to trigger
         }
 
         private queryAndUpdate() {
@@ -103,7 +104,7 @@ namespace sensors.internal {
         }
     }
 
-    export function init() {
+    function init() {
         if (sensorInfos) return
         sensorInfos = []
         for (let i = 0; i < DAL.NUM_INPUTS; ++i) sensorInfos.push(new SensorInfo(i))
@@ -136,7 +137,6 @@ namespace sensors.internal {
         buf[UartCtlOff.Port] = port
         buf[UartCtlOff.Mode] = mode
         uartMM.ioctl(IO.UART_READ_MODE_INFO, buf)
-        control.dmesg(`UART_READ_MODE_INFO ${buf.toHex()}`)
         return buf
         //let info = `t:${buf[TypesOff.Type]} c:${buf[TypesOff.Connection]} m:${buf[TypesOff.Mode]} n:${buf.slice(0, 12).toHex()}`
         //serial.writeLine("UART " + port + " / " + mode + " - " + info)
@@ -275,23 +275,21 @@ void      cUiUpdatePower(void)
         const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let r = 0;
         for (let i = 0; i < conns.length; ++i) {
-            r = conns[i] + (r << 6) + (r << 16) - r;
+            r = (r << 8 | conns[i]);
         }
         return r;
     }
 
     let nonActivated = 0;
     function detectDevices() {
-        control.dmesg(`detect devices (hash ${hashDevices()})`)
+        //control.dmesg(`detect devices (${nonActivated} na)`)
         const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let numChanged = 0;
         const uartSensors: SensorInfo[] = [];
 
         for (const sensorInfo of sensorInfos) {
             const newConn = conns[sensorInfo.port]
-            if (newConn == sensorInfo.connType
+            if (newConn == sensorInfo.connType) {
-                && sensorInfo.sensor
-                && sensorInfo.sensor.isActive()) {
                 // control.dmesg(`connection unchanged ${newConn} at ${sensorInfo.port}`)
                 continue;
             }
@@ -427,11 +425,11 @@ void      cUiUpdatePower(void)
         constructor(port: number) {
             super(port)
             this.mode = 0
-            this.realmode = -1
+            this.realmode = 0
         }
 
         _activated() {
-            this.realmode = -1
+            this.realmode = 0
             this._setMode(this.mode)
         }
 
@@ -458,7 +456,7 @@ void      cUiUpdatePower(void)
 
         reset() {
             if (this.isActive()) uartReset(this._port);
-            this.realmode = -1;
+            this.realmode = 0;
         }
     }
 
@@ -558,7 +556,7 @@ void      cUiUpdatePower(void)
     }
 
     function setUartModes() {
-        control.dmesg(`UART set modes ${devcon.toHex()}`)
+        control.dmesg(`UART set modes`)
         uartMM.ioctl(IO.UART_SET_CONN, devcon)
         const ports: number[] = [];
         for (let port = 0; port < DAL.NUM_INPUTS; ++port) {
@@ -570,7 +568,7 @@ void      cUiUpdatePower(void)
         while (ports.length) {
             const port = ports.pop();
             const status = waitNonZeroUartStatus(port)
-            control.dmesg(`UART status ${status} at ${port}`);
+            control.dmesg(`UART set mode ${status} at ${port}`);
         }
     }
 
@@ -586,7 +584,6 @@ void      cUiUpdatePower(void)
         while (true) {
             if (port < 0) return
             updateUartMode(port, mode);
-            control.dmesg(`UART_SET_CONN ${devcon.toHex()}`)
             uartMM.ioctl(IO.UART_SET_CONN, devcon)
             let status = waitNonZeroUartStatus(port)
             if (status & UART_PORT_CHANGED) {

libs/core/linux.cpp

@@ -524,7 +524,6 @@ void stopProgram() {
 }
 
 extern "C" void target_reset() {
-    pthread_mutex_trylock(&execMutex);
     stopMotors();
     stopProgram();
     if (lmsPid)

libs/core/output.ts

@@ -55,7 +55,7 @@ namespace motors {
         Size = 12
     }
 
-    export function init() {
+    function init() {
         if (pwmMM) return
         pwmMM = control.mmap("/dev/lms_pwm", 0, 0)
         if (!pwmMM) control.fail("no PWM file")
@@ -124,7 +124,7 @@ namespace motors {
     export function stopAll() {
         const b = mkCmd(Output.ALL, DAL.opOutputStop, 0)
         writePWM(b);
-        control.cooperate();
+        pause(1);
     }
 
     /**
@@ -136,7 +136,7 @@ namespace motors {
     //% help=motors/reset-all
     export function resetAll() {
         reset(Output.ALL)
-        control.cooperate();
+        pause(1);
     }
 
     interface MoveSchedule {
@@ -159,7 +159,6 @@ namespace motors {
         private _accelerationTime: number;
         private _decelerationSteps: number;
         private _decelerationTime: number;
-        private _inverted: boolean;
 
         protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];
 
@@ -177,7 +176,6 @@ namespace motors {
             this._accelerationTime = 0;
             this._decelerationSteps = 0;
             this._decelerationTime = 0;
-            this._inverted = false;
         }
 
         /**
@@ -227,11 +225,9 @@ namespace motors {
         //% help=motors/motor/set-inverted
         setInverted(inverted: boolean) {
             this.init();
-            this._inverted = inverted;
+            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
-        }
+            b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
-
+            writePWM(b)
-        protected invertedFactor(): number {
-            return this._inverted ? -1 : 1;
         }
 
         /** 
@@ -269,7 +265,7 @@ namespace motors {
             if (this._brake && this._brakeSettleTime > 0)
                 pause(this._brakeSettleTime);
             else {
-                control.cooperate();
+                pause(1);
             }
         }
 
@@ -280,7 +276,7 @@ namespace motors {
                 // allow robot to settle
                 this.settle();
             } else {
-                control.cooperate();
+                pause(1);
             }
         }
 
@@ -298,9 +294,8 @@ 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) * this.invertedFactor(),
+                speed: Math.clamp(-100, 100, speed >> 0),
                 useSteps: true,
                 steps: [step1 || 0, step2 || 0, step3 || 0]
             }
@@ -357,7 +352,7 @@ namespace motors {
             // special: 0 is infinity
             if (schedule.steps[0] + schedule.steps[1] + schedule.steps[2] == 0) {
                 this._run(schedule.speed);
-                control.cooperate();
+                pause(1);
                 return;
             }
 
@@ -567,7 +562,6 @@ namespace motors {
 
         private __init() {
             this.setOutputType(this._large);
-            this.setInverted(false);
         }
 
         /**
@@ -747,7 +741,7 @@ 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) * this.invertedFactor();
+            speed = Math.clamp(-100, 100, speed >> 0);
             if (!speed) {
                 this.stop();
                 return;

libs/core/pxt.json

@@ -26,8 +26,7 @@
         "icons.jres",
         "ns.ts",
         "platform.h",
-        "integrator.ts",
+        "integrator.ts"
-        "cooperate.ts"
     ],
     "testFiles": [
         "test.ts"

libs/ev3/brick.ts

@@ -1,13 +0,0 @@
-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();
-    }
-}

libs/ev3/ns.ts

@@ -1,6 +1,6 @@
 
 //% color="#68C3E2" weight=100 icon="\uf106"
-//% groups='["Buttons", "Screen", "Power"]'
+//% groups='["Buttons", "Screen", "Battery"]'
 //% labelLineWidth=60
 namespace brick {
 }

libs/ev3/pxt.json

@@ -4,7 +4,6 @@
     "files": [
         "README.md",
         "ns.ts",
-        "brick.ts",
         "startup.ts",
         "images.jres",
         "images.ts",

libs/ev3/startup.ts

@@ -2,5 +2,9 @@
 console.addListener(function(msg: string) {
     control.dmesg(msg.substr(0, msg.length - 1))
 })
-
+// pulse green, play startup sound, turn off light
-brick.showBoot();
+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);

libs/screen/targetoverrides.ts

@@ -140,20 +140,8 @@ namespace brick {
     function renderPorts() {
         const col = 44;
         const lineHeight8 = image.font8.charHeight + 2;
-        const h = screen.height;
-        const w = screen.width;
-        const blink = (control.millis() >> 5) % (h - 1);
-
         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);
@@ -167,38 +155,25 @@ 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;
-            screen.print(`${scale(data.actualSpeed)}%`, x, 3 * lineHeight8, 1, image.font8)
+            const x = i * col;
-            screen.print(`${scale(data.count)}>`, x, 4 * lineHeight8, 1, image.font8)
+            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.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 + 2;
+            const x = (si.port() - 1) * col;
             const inf = si._info();
-            if (inf)
+            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);
         }
-
-        // alive dot
-        screen.setPixel(w - 1, blink, 1);
-        screen.setPixel(w - 1, blink - 1, 1);
-        screen.setPixel(w - 2, blink - 1, 1);
-        screen.setPixel(w - 2, blink, 1);
-    }
-
-    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
-        sensors.internal.init();
-        motors.init();
-        pause(800);
-        // and we're ready
-        brick.setStatusLight(StatusLight.Off);
     }
 
     /**

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.2.28",
+  "version": "1.2.21",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [

sim/state/motornode.ts

@@ -9,6 +9,7 @@ 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;
@@ -30,7 +31,7 @@ namespace pxsim {
         }
 
         getSpeed() {
-            return Math.round(this.speed);
+            return Math.round(this.speed * (!this._synchedMotor && this.polarity == 0 ? -1 : 1));
         }
 
         getAngle() {
@@ -81,6 +82,16 @@ 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...
         }

sim/state/output.ts

@@ -119,7 +119,11 @@ namespace pxsim {
                             return 2;
                         }
                         case DAL.opOutputPolarity: {
-                            console.error("opOutputPolarity not supported");
+                            // 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));
                             return 2;
                         }
                         case DAL.opOutputSetType: {

sim/visuals/robotgametable.ts

@@ -0,0 +1,55 @@
+namespace pxsim {
+    export class RobotGameTable {
+        readonly ctx: CanvasRenderingContext2D;
+        readonly data: ImageData;
+
+        cx: number; // cm
+        cy: number; // cm
+        angle: number; // radians
+        cwidth: number; // cm
+
+        constructor(public canvas: HTMLCanvasElement, public scale: number) {
+            this.ctx = this.canvas.getContext("2d");
+            this.data = this.ctx.getImageData(0, 0, this.canvas.width, this.canvas.height);
+            this.cx = this.width / 2;
+            this.cy = 0;
+        }
+
+        /**
+         * Gets the width in cm
+         */
+        get width() { 
+            return this.canvas.width * this.scale;
+        }
+
+        /**
+         * gets the height in cm
+         */
+        get height() {
+            return this.canvas.height * this.scale;
+        }
+
+        color(): number {
+            // compute color sensor position from center;
+            // todo
+            const px = Math.max(0, Math.min(this.data.width, (this.cx ) / this.scale));
+            const py = Math.max(0, Math.min(this.data.height, (this.cy ) / this.scale));
+            // get color
+            const i = px * this.data.width + py;
+            let c = 
+                (this.data.data[i] << 16) | (this.data.data[i + 1] << 8) | (this.data.data[i + 2]);
+            // map color to known color
+            return c;
+        }
+
+        intensity(): number {
+            const c = this.color();
+            return ((c >> 16 & 0xff) + (c >> 8 & 0xff) + (c & 0xff)) / 3;
+        }
+
+        ultrasonicDistance() {
+            // obstacles?
+            
+        }
+    }
+}

targetconfig.json

@@ -27,6 +27,6 @@
         "Videos": "videos"
     },
     "electronManifest": {
-        "latest": "v1.2.22"
+        "latest": "v1.1.20"
     }
 }