move electron to v1.1.22

* updated pauseuntil

* updated youtube link

* updated docs

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>

docs/bluetooth.md

@@ -16,10 +16,12 @@ or privacy.
 
 ## ~
 
+https://youtu.be/VIq8-6Egtqs
+
 ## Supported browsers
 
-* Chrome desktop, version 77 and higher, Windows 10
+* Chrome desktop, version 77 and higher, Windows 10 or Mac OS.
-* [Edge Insider desktop](https://www.microsoftedgeinsider.com), version 77 and higher, Windows 10
+* [Edge Insider desktop](https://www.microsoftedgeinsider.com), version 77 and higher, Windows 10 or Mac OS.
 
 To make sure your browser is up to date, go to the '...' menu, click "Help" then "About".
 
@@ -28,18 +30,15 @@ Next you need to enable the experimental features (this may change in the future
 * go to **chrome://flags/#enable-experimental-web-platform-features** and **enable** 
 **Experimental Web Platform features**
 
+![A screenshot of the flags page in chrome](/static/bluetooth/experimental.png)
+
 ## Machine Setup
 
 * pair your EV3 brick with your computer over Bluetooth. This is the usual pairing procedure.
 
-![A screenshot of the flags page in chrome](/static/bluetooth/experimental.png)
-
 ## Download over Bluetooth
 
-* go to the **beta** editor https://makecode.mindstorms.com/beta
+* go to https://makecode.mindstorms.com/
-
-This feature is not yet released so make sure to use the beta editor.
-
 * 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.
@@ -49,12 +48,14 @@ 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
 
 * We do not detect properly that the program is running on the brick. Make sure to stop the program before starting the download procedure.
+* The list of programs on the brick screen is not updated when uploading via bluetooth.
 
 ## Feedback
 

docs/fll.md

@@ -96,6 +96,7 @@ Sharing programs is also shown in the [Tips and Tricks](https://legoeducation.vi
 
 The official answer is currently no. That being said, we have **Experimental support** for Bluetooth download. Please read the [Bluetooth](/bluetooth) page for more information.
 
+https://youtu.be/VIq8-6Egtqs
 
 ### Why can't I delete my program (*.uf2) files from the Brick?
 

docs/index-ref.json

@@ -1,3 +1,3 @@
 {
-    "appref": "v1.1.20"
+    "appref": "v1.2.22"
 }

docs/labview.md

@@ -61,6 +61,12 @@ motors.largeBC.steer(0, 50, 1, MoveUnit.Rotations);
 motors.largeBC.stop();
 ```
 
+### ~ hint
+
+The **turn ratio range is -200, 200** unlike LabView who used -100,100.
+
+### ~
+
 ## Tank
 
 The **tank** blocks control the speed of two motors. These are commonly used for a differential drive robot. The blocks can also specify the duration, angle, or number of rotations.

docs/offline-app.html

@@ -3,11 +3,20 @@
 
 <head>
     <meta charset="UTF-8">
-    <title>LEGO® MINDSTORMS® Education EV3 Offline App</title>
+    <title>@name@ Offline App</title>
-    <meta name="Description" content="A MakeCode for LEGO® MINDSTORMS® Education EV3 offline app" />
+    <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 () {
+        var electronLatestVersion = "";
-            tickEvent = function (id, data) {
+        function tickEvent(id, data) {
-                if (!pxt.aiTrackEvent) return;
+            if (!pxt.aiTrackEvent) return;
-                if (!data) pxt.aiTrackEvent(id);
+            if (!data) pxt.aiTrackEvent(id);
-                else {
+            else {
-                    var props = {};
+                var props = {};
-                    var measures = {};
+                var measures = {};
-                    for (var k in data)
+                for (var k in data)
-                        if (typeof data[k] == "string") props[k] = data[k];
+                    if (typeof data[k] == "string") props[k] = data[k];
-                        else measures[k] = data[k];
+                    else measures[k] = data[k];
-                    pxt.aiTrackEvent(id, props, measures);
+                pxt.aiTrackEvent(id, props, measures);
-                }
             }
-        });
+        }
+
         function agreeCheckboxChanged() {
-            var downloadSegment = document.getElementById("download-segment");
+            showDownloads();
-            downloadSegment.classList.toggle("hidden");
+        }
+
+        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
+            tickEvent("offlineapp.download", { "target": "@targetid@", "platform": "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
+            tickEvent("offlineapp.download", { "target": "@targetid@", "platform": "mac64" });
-            window.open("https://makecode.com/api/release/ev3/v1.1.20/mac64");
-            tickEvent("offlineapp.download", { "target": "ev3", "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 id="segments" class="ui compact segments terms-container">
-            <div class="ui secondary center aligned segment">
+            <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
+                        <span class="c3 c1">These license terms are an agreement between Microsoft Corporation (or based
-                            of its affiliates) and you. They apply to the software named above. The terms also apply to any
+                            on where you live, one
-                            Microsoft services or updates for the software, except to the extent those have additional terms.</span>
+                            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
+                        <span class="c3 c1">You may install and use any number of copies of the software to evaluate it
-                            your software applications for use with Lego Mindstorms Education EV3 hardware.</span>
+                            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.
+                        <span class="c3 c1">The software is a pre-release version. It may not work the way a final
-                            Microsoft may change it for the final, commercial version. We also may not release a commercial
+                            version of the software will.
-                            version. Microsoft is not obligated to provide maintenance, technical support or updates to you
+                            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 
+                        <span class="c1">&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Some features of the software
-                            to, or rely on, online services to provide you information about updates to the software or extensions, 
+                            provide access
-                            or to enable you to retrieve content, collaborate with others, or otherwise supplement your development 
+                            to, or rely on, online services to provide you information about updates to the software or
-                            experience.  As used throughout these license terms, the term <q>software</q> includes these online 
+                            extensions,
-                            services and features. By using these online services and features you consent to the to the 
+                            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.
+                        <span class="c1">The software may collect information about you and your use of the software,
-                            Microsoft may use this information to provide services and improve our products and services.
+                            and send that to Microsoft.
-                            You may opt out of many of these scenarios, but not all, as described in the product documentation.
+                            Microsoft may use this information to provide services and improve our products and
-                            In using the software, you must comply with applicable law. You can learn more about data collection
+                            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,
+                        <span class="c1">To the extent Microsoft is a processor or subprocessor of personal data in
-                            Microsoft makes the commitments in the European Union General Data Protection Regulation Terms
+                            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
+                            not give feedback that is subject to a license that requires Microsoft to license its
-                            or documentation to third parties because we include your feedback in them. These rights survive
+                            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.
+                        <span class="c3 c1">&nbsp;The software is licensed, not sold. This agreement only gives you some
-                            Microsoft reserves all other rights. Unless applicable law gives you more rights despite this
+                            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
+                        <span class="c3 c1">The software may periodically check for updates and download and install
-                            updates only from Microsoft or authorized sources. Microsoft may need to update your system to
+                            them for you. You may obtain
-                            provide you with updates. You agree to receive these automatic updates without any additional
+                            updates only from Microsoft or authorized sources. Microsoft may need to update your system
-                            notice. Updates may not include or support all existing software features, services, or peripheral
+                            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
+                        <span class="c3 c1">&nbsp;You must comply with all domestic and international export laws and
-                            to the software, which include restrictions on destinations, end users and end use. For further
+                            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
+                        <span class="c3 c1">&nbsp;This agreement, and the terms for supplements, updates, Internet-based
-                            services that you use, are the entire agreement for the software and support services.</span>
+                            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
+                        <span class="c3 c1">If you acquired the software in the United States, Washington State law
-                            of and claims for breach of this agreement, and the laws of the state where you live apply to
+                            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,
+                        <span class="c3 c1">This agreement describes certain legal rights. You may have other rights,
-                            under the laws of your state or country. Separate and apart from your relationship with Microsoft,
+                            including consumer rights,
-                            you may also have rights with respect to the party from which you acquired the software. This
+                            under the laws of your state or country. Separate and apart from your relationship with
-                            agreement does not change those other rights if the laws of your state or country do not permit
+                            Microsoft,
-                            it to do so. For example, if you acquired the software in one of the below regions, or mandatory
+                            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
+                        <span class="c3 c1">If you acquired the software in Canada, you may stop receiving updates by
-                            update feature, disconnecting your device from the Internet (if and when you re-connect to the
+                            turning off the automatic
-                            Internet, however, the software will resume checking for and installing updates), or uninstalling
+                            update feature, disconnecting your device from the Internet (if and when you re-connect to
-                            the software. The product documentation, if any, may also specify how to turn off updates for
+                            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
+                        <span class="c3 c1">. The properly licensed software will perform substantially as described in
-                            that accompany the software. However, Microsoft gives no contractual guarantee in relation to
+                            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
+                        <span class="c3 c1">. In case of intentional conduct, gross negligence, claims based on the
-                            well as, in case of death or personal or physical injury, Microsoft is liable according to 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
+                        <span class="c3 c1">Subject to the foregoing clause (ii), Microsoft will only be liable for
-                            is in breach of such material contractual obligations, the fulfillment of which facilitate the
+                            slight negligence if Microsoft
-                            due performance of this agreement, the breach of which would endanger the purpose of this agreement
+                            is in breach of such material contractual obligations, the fulfillment of which facilitate
-                            and the compliance with which a party may constantly trust in (so-called &quot;cardinal obligations&quot;).
+                            the
-                            In other cases of slight negligence, Microsoft will not be liable for slight negligence.</span>
+                            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
+                        <span class="c3 c1">&nbsp;This agreement describes certain legal rights. You may have other
-                            your country. You may also have rights with respect to the party from whom you acquired the software.
+                            rights under the laws of
-                            This agreement does not change your rights under the laws of your country if the laws of your
+                            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
+                        <span class="c4 c1">DISCLAIMER OF WARRANTY. THE SOFTWARE IS LICENSED &ldquo;AS-IS.&rdquo;
-                            USING IT. MICROSOFT GIVES NO EXPRESS WARRANTIES, GUARANTEES OR CONDITIONS. TO THE EXTENT PERMITTED
+                            &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
+                        <span class="c4 c1">LIMITATION ON AND EXCLUSION OF DAMAGES. YOU CAN RECOVER FROM MICROSOFT AND
-                            DAMAGES UP TO U.S. $5.00. YOU CANNOT RECOVER ANY OTHER DAMAGES, INCLUDING CONSEQUENTIAL, LOST
+                            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)
+                        <span class="c3 c1">This limitation applies to (a) anything related to the software, services,
-                            on third party Internet sites, or third party programs; and (b) claims for breach of contract,
+                            content (including code)
-                            breach of warranty, guarantee or condition, strict liability, negligence, or other tort to the
+                            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.
+                        <span class="c3 c1">It also applies even if Microsoft knew or should have known about the
-                            The above limitation or exclusion may not apply to you because your country may not allow 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
+                        <span class="c1 c3">&nbsp;Le logiciel vis&eacute; par une licence est offert &laquo; tel quel
-                            de ce logiciel est &agrave; votre seule risque et p&eacute;ril. Microsoft n&rsquo;accorde aucune
+                            &raquo;. Toute utilisation
-                            autre garantie expresse. Vous pouvez b&eacute;n&eacute;ficier de droits additionnels en vertu
+                            de ce logiciel est &agrave; votre seule risque et p&eacute;ril. Microsoft n&rsquo;accorde
-                            du droit local sur la protection des consommateurs, que ce contrat ne peut modifier. La ou elles
+                            aucune
-                            sont permises par le droit locale, les garanties implicites de qualit&eacute; marchande, d&rsquo;ad&eacute;quation
+                            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="c5 c1">LIMITATION DES DOMMAGES-INT&Eacute;R&Ecirc;TS ET EXCLUSION DE
-                        <span class="c3 c1">&nbsp;Vous pouvez obtenir de Microsoft et de ses fournisseurs une indemnisation en cas de dommages
+                            RESPONSABILIT&Eacute; POUR LES DOMMAGES.</span>
-                            directs uniquement &agrave; hauteur de 5,00 $ US. Vous ne pouvez pr&eacute;tendre &agrave; aucune
+                        <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
+                        <span class="c3 c1">- &nbsp; &nbsp; &nbsp; &nbsp; tout ce qui est reli&eacute; au logiciel, aux
-                            (y compris le code) figurant sur des sites Internet tiers ou dans des programmes tiers ; et</span>
+                            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,
+                        <span class="c3 c1">- &nbsp; &nbsp; &nbsp; &nbsp; les r&eacute;clamations au titre de violation
-                            ou au titre de responsabilit&eacute; stricte, de n&eacute;gligence ou d&rsquo;une autre faute
+                            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
+                            l&rsquo;exclusion ou la limitation de responsabilit&eacute; pour les dommages indirects,
-                            ou de quelque nature que ce soit, il se peut que la limitation ou l&rsquo;exclusion ci-dessus
+                            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
+                        <span class="c3 c1">&nbsp;Le pr&eacute;sent contrat d&eacute;crit certains droits juridiques.
-                            droits pr&eacute;vus par les lois de votre pays. Le pr&eacute;sent contrat ne modifie pas les
+                            Vous pourriez avoir d&rsquo;autres
-                            droits que vous conf&egrave;rent les lois de votre pays si celles-ci ne le permettent pas.</span>
+                            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
+                        <span class="c3 c1">@copyrightText@</span>
-                            the LEGO Group. &copy;2018 The LEGO Group. All rights reserved.</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
+                            makecode-@targetid@-setup-win64.exe
-                        </button>
+                        </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
+                            makecode-@targetid@-mac64.zip
-                        </button>
+                        </a>
                     </div>
                 </div>
             </div>
@@ -788,4 +926,4 @@
 
 </body>
 
-</html>
+</html>

docs/reference/brick/show-ports.md

@@ -10,12 +10,12 @@ You can find out what's connected to the ports on the brick and show its status.
 
 ## Example
 
-Show the status of the ports on the brick when the ``enter`` button is pressed.
+Show the status of the ports on the brick. Resets all motors when ENTER is pressed.
 
 ```blocks
-brick.showString("Press ENTER for port status", 1)
+brick.showPorts()
 brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
-    brick.showPorts()
+    motors.resetAll()
 })
 ```
 

docs/reference/motors/reset-all.md

@@ -0,0 +1,25 @@
+# reset All Motors
+
+Reset all motors currently running on the brick.
+
+```sig
+motors.resetAll();
+```
+
+The motors counters are resetted. 
+
+## Example
+
+Tank the EV3 Brick forward at half speed for 5 seconds and then stop.
+
+```blocks
+motors.largeAB.tank(50, 50);
+pause(5000);
+motors.stopAll();
+motors.resetAll();
+```
+
+## See also
+
+[stop all](/reference/motors/motor/stop-all), 
+[reset](/reference/motors/motor/reset)

docs/reference/motors/stop-all.md

@@ -22,4 +22,5 @@ motors.stopAll();
 
 [stop](/reference/motors/motor/stop), 
 [reset](/reference/motors/motor/reset),
+[reset-all](/reference/motors/motor/reset-all),
 [set brake](/reference/motors/motor/set-brake)

docs/reference/motors/synced/steer.md

@@ -22,7 +22,7 @@ If you decide to use a **value** of rotation distance, you need to choose a type
 
 ## Parameters
 
-* **turnRatio**: a [number](/types/number) that is the percentage of speed of the drive motor. The follower motor runs at this speed. A negative number steers to the left and a positive number steers to the right. This is a number between `-100` and `100`.
+* **turnRatio**: a [number](/types/number) that is the percentage of speed of the drive motor. The follower motor runs at this speed. A negative number steers to the left and a positive number steers to the right. This is a number between `-200` and `200`.
 * **speed**: a [number](/types/number) that is the percentage of full speed. A negative value runs the motors in the reverse direction. This is the speed that the drive motor runs at.
 * **value**: the [number](/types/number) of movement units to rotate for. A value of `0` means run the motor continuously.
 * **unit**: the movement unit of rotation. This can be `milliseconds`, `seconds`, `degrees`, or `rotations`. If the number for **value** is `0`, this parameter isn't used.

docs/tutorials.md

@@ -25,6 +25,11 @@ Step by step guides to coding your @boardname@.
   "description": "Use the color sensor to follow line or detect colors",
   "url":"/tutorials/color-sensor",
   "imageUrl":"/static/tutorials/what-color.png"
+}, {
+  "name": "Gyro",
+  "description": "Drive straight or turn more precisely with the gyro",
+  "url":"/tutorials/gyro",
+  "imageUrl":"/static/tutorials/calibrate-gyro.png"
 }, {
   "name": "Ultrasonic Sensor",
   "description": "Use the ultrasonic sensor to detect obstacles",

docs/tutorials/calibrate-gyro.md

@@ -0,0 +1,37 @@
+# Calibrate Gyro
+
+## Introduction @fullscreen
+
+The gyroscope is a very useful sensor in the EV3 system. It detects the rotation rate
+which can be very useful to correct the trajectory of the robot and do precise turns.
+
+However, the sensor can be imprecise and subject to drifting. It is recommend to
+calibrate your sensor at least once after starting your brick. You don't have to 
+recalibrate on every run.
+
+* [EV3 Driving Base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
+* [EV3 Driving Base with Gyro](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-gyro-sensor-driving-base-a521f8ebe355c281c006418395309e15.pdf)
+
+
+## Step 1 Show ports
+
+Add the ``||brick:show ports||`` to see the status of the gyroscope.
+
+```blocks
+brick.showPorts()
+```
+
+
+## Step 2 Calibration
+
+Add a ``||sensors:calibrate gyro||`` block to calibrate the gyro. The block
+detects if the sensor is present and does a full reset of the sensor if necessary.
+
+```blocks
+brick.showPorts()
+sensors.gyro2.calibrate()
+```
+
+## Step 3 Download and run @fullscreen
+
+Download this program to your brick and press the ENTER button.

docs/tutorials/city-shaper.md

@@ -20,8 +20,31 @@
     "name": "Crane Mission / Video 1",
     "description": "A video of the Robot 1 tutorial",
     "youTubeId": "IqL0Pyeu5Ng"
-}
+}, {
-]
+    "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"
+}]
 ```
 
 ## See Also

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()
+})
+```

docs/tutorials/gyro.md

@@ -0,0 +1,31 @@
+# Gyro tutorials
+
+## Tutorials
+
+```codecard
+[{
+  "name": "Calibrate",
+  "description": "Make sure you gyro sensor is ready to use",
+  "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"
+}]
+```

docs/tutorials/move-straight-with-gyro.md

@@ -0,0 +1,61 @@
+# Move Straight With Gyro
+
+## Introduction @fullscreen
+
+Rotating using a wheel is not precise. The wheel can slip or the motors
+can be slightly different. 
+With the help of the gyro you can detect and correct deviations in your trajectory.
+
+* [EV3 Driving Base](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-rem-driving-base-79bebfc16bd491186ea9c9069842155e.pdf)
+* [EV3 Driving Base with Gyro](https://le-www-live-s.legocdn.com/sc/media/lessons/mindstorms-ev3/building-instructions/ev3-gyro-sensor-driving-base-a521f8ebe355c281c006418395309e15.pdf)
+
+
+## Step 1 Calibration
+
+Add a ``||sensors:calibrate gyro||`` block in a ``||brick:on button enter pressed||`` block so that you can manually start a calibration process. Run the calibration
+at least once after connecting the gyro.
+
+```blocks
+brick.showPorts()
+sensors.gyro2.calibrate()
+```
+
+## Step 2 Compute the error
+
+Make a new **error** variable and drag the ``||sensors:gyro rate||``
+and multiply it by -1. Since the rate shows the rotation rate, we will
+counter it by negating it.
+
+```blocks
+let error = 0
+brick.showPorts()
+sensors.gyro2.calibrate()
+while (true) {
+    error = sensors.gyro2.rate() * -1
+}
+```
+
+## Step 3 Steer with feedback
+
+Drag a ``||motors:steer motors||`` block under the variable and pass
+the **error** variable into the turn ratio section.
+
+If the robot is turning right, the gyro will report a positive rotation rate
+and the turn ratio will be negative which will the turn the robot left!
+
+```blocks
+let error = 0
+brick.showPorts()
+sensors.gyro2.calibrate()
+while (true) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+```
+
+## Step 4 Run it!
+
+Download to your brick and test out if the robot is going straight.
+
+This kind of technique is called a proportional controller; 
+it corrects the inputs (motor speed) with a feedback proportional to the output (rotation rate).

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()
+```

editor/deploy.ts

@@ -4,7 +4,12 @@
 import UF2 = pxtc.UF2;
 import { Ev3Wrapper } from "./wrap";
 
-export let ev3: Ev3Wrapper
+export let ev3: Ev3Wrapper;
+let confirmAsync: (options: any) => Promise<number>;
+
+export function setConfirmAsync(cf: (options: any) => Promise<number>) {
+    confirmAsync = cf;
+}
 
 export function debug() {
     return initHidAsync()
@@ -59,14 +64,9 @@ class WebSerialPackageIO implements pxt.HF2.PacketIO {
     private _writer: any;
 
     constructor(private port: SerialPort, private options: SerialOptions) {
-
-        // start reading
-        this.readSerialAsync();
     }
 
     async readSerialAsync() {
-        if (this._reader) return;
-
         this._reader = this.port.readable.getReader();
         let buffer: Uint8Array;
         const reader = this._reader;
@@ -100,9 +100,7 @@ class WebSerialPackageIO implements pxt.HF2.PacketIO {
                     baudrate: 460800,
                     buffersize: 4096
                 };
-                await port.open(options);
+                return new WebSerialPackageIO(port, options);
-                if (port)
-                    return new WebSerialPackageIO(port, options);
             } catch (e) {
                 console.log(`connection error`, e)
             }
@@ -115,27 +113,32 @@ class WebSerialPackageIO implements pxt.HF2.PacketIO {
         throw new Error(lf("error on brick ({0})", msg))
     }
 
-    private close() {
+    private openAsync() {
-        if (this.port.readable) {// it's open
+        console.log(`serial: opening port`)
-            this.port.close();
+        if (!!this._reader) return Promise.resolve();
-            this._reader = undefined;
+        this._reader = undefined;
-            this._writer = undefined;
+        this._writer = undefined;
-        }
+        return this.port.open(this.options)
+            .then(() => {
+                this.readSerialAsync();
+                return Promise.resolve();
+            });
     }
 
-    async reconnectAsync(): Promise<void> {
+    private closeAsync() {
-        if (!this.port.readable) {
+        console.log(`serial: closing port`);
-            this._reader = undefined;
+        this.port.close();
-            this._writer = undefined;
+        this._reader = undefined;
-            await this.port.open(this.options);
+        this._writer = undefined;
-            this.readSerialAsync();
+        return Promise.delay(500);
-        }
-        return Promise.resolve();
     }
 
-    async disconnectAsync(): Promise<void> {
+    reconnectAsync(): Promise<void> {
-        this.close();
+        return this.openAsync();
-        return Promise.resolve();
+    }
+
+    disconnectAsync(): Promise<void> {
+        return this.closeAsync();
     }
 
     sendPacketAsync(pkt: Uint8Array): Promise<void> {
@@ -169,7 +172,7 @@ export function initAsync(): Promise<void> {
     }
 
     if (WebSerialPackageIO.isSupported())
-        pxt.tickEvent("bluetooth.supported");
+        pxt.tickEvent("webserial.supported");
 
     return Promise.resolve();
 }
@@ -178,12 +181,23 @@ export function canUseWebSerial() {
     return WebSerialPackageIO.isSupported();
 }
 
-export function enableWebSerial() {
+export function enableWebSerialAsync() {
     initPromise = undefined;
     useWebSerial = WebSerialPackageIO.isSupported();
     useHID = useWebSerial;
     if (useWebSerial)
-        initHidAsync().done();
+        return initHidAsync().then(() => { });
+    else return Promise.resolve();
+}
+
+function cleanupAsync() {
+    if (ev3) {
+        console.log('cleanup previous port')
+        return ev3.disconnectAsync()
+            .catch(e => { })
+            .finally(() => { ev3 = undefined; });
+    }
+    return Promise.resolve();
 }
 
 let initPromise: Promise<Ev3Wrapper>
@@ -191,15 +205,14 @@ function initHidAsync() { // needs to run within a click handler
     if (initPromise)
         return initPromise
     if (useHID) {
-        initPromise = hf2Async()
+        initPromise = cleanupAsync()
+            .then(() => hf2Async())
             .catch(err => {
                 console.error(err);
                 initPromise = null
                 useHID = false;
                 useWebSerial = false;
-                // cleanup
+                return Promise.reject(err);
-                let p = ev3 ? ev3.disconnectAsync().catch(e => { }) : Promise.resolve();
-                return p.then(() => Promise.reject(err))
             })
     } else {
         useHID = false
@@ -210,6 +223,7 @@ function initHidAsync() { // needs to run within a click handler
 }
 
 // this comes from aux/pxt.lms
+const fspath = "../prjs/BrkProg_SAVE/"
 const rbfTemplate = `
 4c45474f580000006d000100000000001c000000000000000e000000821b038405018130813e8053
 74617274696e672e2e2e0084006080XX00448581644886488405018130813e80427965210084000a
@@ -218,8 +232,6 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
     let filename = resp.downloadFileBaseName || "pxt"
     filename = filename.replace(/^lego-/, "")
 
-    let fspath = "../prjs/BrkProg_SAVE/"
-
     let elfPath = fspath + filename + ".elf"
     let rbfPath = fspath + filename + ".rbf"
 
@@ -261,7 +273,7 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
 
     if (!useHID) return saveUF2Async()
 
-    pxt.tickEvent("bluetooth.flash");
+    pxt.tickEvent("webserial.flash");
     let w: Ev3Wrapper;
     return initHidAsync()
         .then(w_ => {
@@ -269,18 +281,41 @@ export function deployCoreAsync(resp: pxtc.CompileResult) {
             if (w.isStreaming)
                 pxt.U.userError("please stop the program first")
             return w.reconnectAsync(false)
+                .catch(e => {
+                    // user easily forgets to stop robot
+                    if (confirmAsync)
+                        return confirmAsync({
+                            header: lf("Bluetooth download failed..."),
+                            htmlBody:
+                                `<ul>
+<li>${lf("Make sure to stop your program or exit portview on the EV3.")}</li>
+<li>${lf("Check your battery level.")}</li>
+<li>${lf("Close EV3 LabView or other MakeCode editor tabs.")}
+</ul>`,
+                            hasCloseIcon: true,
+                            hideCancel: true,
+                            hideAgree: false,
+                            agreeLbl: lf("Try again"),
+                        }).then(() => w.disconnectAsync())
+                            .then(() => Promise.delay(1000))
+                            .then(() => w.reconnectAsync());
+
+                    // nothing we can do
+                    return Promise.reject(e);
+                })
         })
         .then(() => w.stopAsync())
         .then(() => w.rmAsync(elfPath))
         .then(() => w.flashAsync(elfPath, UF2.readBytes(origElfUF2, 0, origElfUF2.length * 256)))
         .then(() => w.flashAsync(rbfPath, rbfBIN))
         .then(() => w.runAsync(rbfPath))
+        .then(() => Promise.delay(500))
         .then(() => {
-            pxt.tickEvent("bluetooth.success");
+            pxt.tickEvent("webserial.success");
             return w.disconnectAsync()
             //return Promise.delay(1000).then(() => w.dmesgAsync())
         }).catch(e => {
-            pxt.tickEvent("bluetooth.fail");
+            pxt.tickEvent("webserial.fail");
             useHID = false;
             useWebSerial = false;
             // if we failed to initalize, tell the user to retry

editor/extension.ts

@@ -1,13 +1,23 @@
 /// <reference path="../node_modules/pxt-core/built/pxteditor.d.ts"/>
 /// <reference path="../node_modules/pxt-core/built/pxtsim.d.ts"/>
 
-import { deployCoreAsync, initAsync, canUseWebSerial, enableWebSerial } from "./deploy";
+import { deployCoreAsync, initAsync, canUseWebSerial, enableWebSerialAsync, setConfirmAsync } from "./deploy";
 
+let bluetoothDialogShown = false;
 pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): Promise<pxt.editor.ExtensionResult> {
+    const projectView = opts.projectView;
     pxt.debug('loading pxt-ev3 target extensions...')
+
+    function enableWebSerialAndCompileAsync() {
+        return enableWebSerialAsync()
+        .then(() => Promise.delay(500))
+        .then(() => projectView.compile());
+    }
+
     const res: pxt.editor.ExtensionResult = {
         deployCoreAsync,
         showUploadInstructionsAsync: (fn: string, url: string, confirmAsync: (options: any) => Promise<number>) => {
+            setConfirmAsync(confirmAsync);
             // https://msdn.microsoft.com/en-us/library/cc848897.aspx
             // "For security reasons, data URIs are restricted to downloaded resources. 
             // Data URIs cannot be used for navigation, for scripting, or to populate frame or iframe elements"
@@ -80,29 +90,30 @@ pxt.editor.initExtensionsAsync = function (opts: pxt.editor.ExtensionOptions): P
                     className: "bluetooth focused",
                     onclick: () => {
                         pxt.tickEvent("bluetooth.enable");
-                        confirmAsync({
+                        if (bluetoothDialogShown) {
-                            header: lf("Bluetooth enabled"),
+                            enableWebSerialAndCompileAsync().done();
-                            hasCloseIcon: true,
+                        } else {
-                            hideCancel: true,
+                            bluetoothDialogShown = true;
-                            buttons: [{
+                            confirmAsync({
-                                label: lf("Help"),
+                                header: lf("Bluetooth pairing"),
-                                icon: "question circle",
+                                hasCloseIcon: true,
-                                className: "lightgrey",
+                                hideCancel: true,
-                                url: "/bluetooth"
+                                buttons: [{
-                            }],
+                                    label: lf("Help"),
-                            htmlBody: `
+                                    icon: "question circle",
-<p>
+                                    className: "lightgrey",
-${lf("Download again to send your code to the EV3 over Bluetooth. Make sure to stop your program!")}
+                                    url: "/bluetooth"
-</p>
+                                }],
-<p>
+                                htmlBody: `<p>
 ${lf("You will be prompted to select a serial port.")}
-${lf("On Windows, look for 'Standard Serial over Bluetooth link'.")}
+${pxt.BrowserUtils.isWindows() 
+    ? lf("Look for 'Standard Serial over Bluetooth link'.") 
+    : lf("Loop for 'cu.EV3-SerialPort'.")}
 ${lf("If you have paired multiple EV3, you might have to try out multiple ports until you find the correct one.")}
 </p>
 `
-                        }).then(() => {
+                            }).then(() => enableWebSerialAndCompileAsync())
-                            enableWebSerial();
+                        }
-                        })
                     }
                 } : undefined, downloadAgain ? {
                     label: fn,

editor/wrap.ts

@@ -1,8 +1,12 @@
+/**
+ * See https://www.lego.com/cdn/cs/set/assets/blt6879b00ae6951482/LEGO_MINDSTORMS_EV3_Communication_Developer_Kit.pdf
+ * https://github.com/mindboards/ev3sources/blob/master/lms2012/lms2012/source/bytecodes.h#L146
+ */
 import HF2 = pxt.HF2
 import U = pxt.U
 
 function log(msg: string) {
-    pxt.debug("EWRAP: " + msg)
+    pxt.log("serial: " + msg)
 }
 
 export interface DirEntry {
@@ -13,13 +17,14 @@ export interface DirEntry {
 
 const runTemplate = "C00882010084XX0060640301606400"
 const usbMagic = 0x3d3f
+const DIRECT_COMMAND_NO_REPLY = 0x80
 
 export class Ev3Wrapper {
     msgs = new U.PromiseBuffer<Uint8Array>()
     private cmdSeq = U.randomUint32() & 0xffff;
     private lock = new U.PromiseQueue();
     isStreaming = false;
-    dataDump = false;
+    dataDump = /talkdbg=1/.test(window.location.href);
 
     constructor(public io: pxt.HF2.PacketIO) {
         io.onData = buf => {
@@ -89,7 +94,7 @@ export class Ev3Wrapper {
     runAsync(path: string) {
         let codeHex = runTemplate.replace("XX", U.toHex(U.stringToUint8Array(path)))
         let code = U.fromHex(codeHex)
-        let pkt = this.allocCore(2 + code.length, 0)
+        let pkt = this.allocCore(2 + code.length, DIRECT_COMMAND_NO_REPLY)
         HF2.write16(pkt, 5, 0x0800)
         U.memcpy(pkt, 7, code)
         log(`run ${path}`)

fieldeditors/field_speed.ts

@@ -76,9 +76,10 @@ export class FieldSpeed extends Blockly.FieldSlider implements Blockly.FieldCust
     };
 
     setReadout_(readout: Element, value: string) {
-        this.updateSpeed(parseFloat(value));
+        let x = parseFloat(value) || 0;
+        this.updateSpeed(x);
         // Update reporter
-        this.reporter.textContent = `${value}%`;
+        this.reporter.textContent = `${x}%`;
     }
 
     private updateSpeed(speed: number) {

fieldeditors/field_turnratio.ts

@@ -23,7 +23,7 @@ export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.Field
      * @constructor
      */
     constructor(value_: any, params: FieldTurnRatioOptions, opt_validator?: Function) {
-        super(String(value_), '-100', '100', null, '10', 'TurnRatio', opt_validator);
+        super(String(value_), '-200', '200', null, '10', 'TurnRatio', opt_validator);
         this.params = params;
         (this as any).sliderColor_ = '#a8aaa8';
     }
@@ -76,26 +76,26 @@ export class FieldTurnRatio extends Blockly.FieldSlider implements Blockly.Field
         if (!this.path_) {
             return;
         }
-        let v = goog.math.clamp(parseFloat(this.getText()), -100, 100);
+        let v = goog.math.clamp(parseFloat(this.getText()), -200, 200);
         if (isNaN(v)) {
             v = 0;
         }
-
+        const x = v / 100;
-        const x = goog.math.clamp(parseFloat(this.getText()), -100, 100) / 100;
+        const nx = Math.max(-1, Math.min(1, x));
-        const theta = x * Math.PI / 2;
+        const theta = Math.max(nx) * Math.PI / 2;
-        const cx = FieldTurnRatio.HALF;
+        const r = FieldTurnRatio.RADIUS - 6;
-        const cy = FieldTurnRatio.HALF - 14;
+        let cx = FieldTurnRatio.HALF;
-        const gamma = Math.PI - 2 * theta;
+        const cy = FieldTurnRatio.HALF - 22;
-        const r = FieldTurnRatio.RADIUS;
+        if (Math.abs(x) > 1) {
-        const alpha = 0.2 + Math.abs(x) * 0.5;
+            cx -= (x - (x > 0 ? 1 : -1)) * r / 2; // move center of circle
-        const x1 = 0;
+        }
+        const alpha = 0.2 + Math.abs(nx) * 0.5;
         const y1 = r * alpha;
         const y2 = r * Math.sin(Math.PI / 2 - theta);
         const x2 = r * Math.cos(Math.PI / 2 - theta);
         const y3 = y2 - r * alpha * Math.cos(2 * theta);
         const x3 = x2 - r * alpha * Math.sin(2 * theta);
 
-
         const d = `M ${cx} ${cy} C ${cx} ${cy - y1} ${cx + x3} ${cy - y3} ${cx + x2} ${cy - y2}`;
         this.path_.setAttribute('d', d);
 

libs/color-sensor/color.ts

@@ -73,13 +73,7 @@ namespace sensors {
         }
 
         setMode(m: ColorSensorMode) {
-            if (m == ColorSensorMode.AmbientLightIntensity) {
+            // don't change threshold after initialization
-                this.thresholdDetector.setLowThreshold(5);
-                this.thresholdDetector.setHighThreshold(20);
-            } else {
-                this.thresholdDetector.setLowThreshold(20);
-                this.thresholdDetector.setHighThreshold(80);
-            }
             this._setMode(m)
         }
 
@@ -111,6 +105,9 @@ namespace sensors {
                         "red",
                         "white",
                         "brown"][this._query()];
+                case ColorSensorMode.AmbientLightIntensity:
+                case ColorSensorMode.ReflectedLightIntensity:
+                    return `${this._query()}%`;
                 default:
                     return this._query().toString();
             }
@@ -253,7 +250,7 @@ namespace sensors {
         light(mode: LightIntensityMode) {
             this.poke();
             this.setMode(<ColorSensorMode><number>mode)
-            switch(mode) {
+            switch (mode) {
                 case LightIntensityMode.ReflectedRaw:
                     return this.reflectedLightRaw();
                 default:

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;
+        private min: number;
-        public max: number;
+        private max: number;
-        public lowThreshold: number;
+        private lowThreshold: number;
-        public highThreshold: number;
+        private highThreshold: number;
         public level: number;
         public state: ThresholdState;
 

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();
+        }
+    }
+}

libs/core/linux.cpp

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

libs/core/output.ts

@@ -62,7 +62,7 @@ namespace motors {
         motorMM = control.mmap("/dev/lms_motor", MotorDataOff.Size * DAL.NUM_OUTPUTS, 0)
         if (!motorMM) control.fail("no motor file")
 
-        resetAllMotors()
+        resetAll()
 
         const buf = output.createBuffer(1)
         buf[0] = DAL.opProgramStart
@@ -118,7 +118,7 @@ namespace motors {
      * Stops all motors
      */
     //% blockId=motorStopAll block="stop all motors"
-    //% weight=1
+    //% weight=2
     //% group="Move"
     //% help=motors/stop-all
     export function stopAll() {
@@ -130,8 +130,11 @@ namespace motors {
     /**
      * Resets all motors
      */
+    //% blockId=motorResetAll block="reset all motors"
+    //% weight=1
     //% group="Move"
-    export function resetAllMotors() {
+    //% help=motors/reset-all
+    export function resetAll() {
         reset(Output.ALL)
         pause(1);
     }
@@ -261,8 +264,9 @@ namespace motors {
             // allow 500ms for robot to settle
             if (this._brake && this._brakeSettleTime > 0)
                 pause(this._brakeSettleTime);
-            else
+            else {
-                pause(1); // give a tiny breather
+                pause(1);
+            }
         }
 
         protected pauseOnRun(stepsOrTime: number) {
@@ -272,7 +276,6 @@ namespace motors {
                 // allow robot to settle
                 this.settle();
             } else {
-                // give a breather to the event system in tight loops
                 pause(1);
             }
         }
@@ -301,9 +304,17 @@ namespace motors {
                 case MoveUnit.Rotations:
                     scale = 360;
                     r.useSteps = true;
+                    if (r.steps[1] < 0) {
+                        r.speed = -r.speed;
+                        r.steps[1] = -r.steps[1];
+                    }
                     break;
                 case MoveUnit.Degrees:
                     r.useSteps = true;
+                    if (r.steps[1] < 0) {
+                        r.speed = -r.speed;
+                        r.steps[1] = -r.steps[1];
+                    }
                     break;
                 case MoveUnit.Seconds:
                     scale = 1000;
@@ -416,28 +427,28 @@ namespace motors {
                     temp = Math.max(0, (value * 360) | 0);
                     if (phase == MovePhase.Acceleration)
                         this._accelerationSteps = temp;
-                    else 
+                    else
                         this._decelerationSteps = temp;
                     break;
                 case MoveUnit.Degrees:
                     temp = Math.max(0, value | 0);
                     if (phase == MovePhase.Acceleration)
                         this._accelerationSteps = temp;
-                    else 
+                    else
                         this._decelerationSteps = temp;
                     break;
                 case MoveUnit.Seconds:
                     temp = Math.max(0, (value * 1000) | 0);
                     if (phase == MovePhase.Acceleration)
                         this._accelerationTime = temp;
-                    else 
+                    else
                         this._decelerationTime = temp;
                     break;
                 case MoveUnit.MilliSeconds:
                     temp = Math.max(0, value | 0);
                     if (phase == MovePhase.Acceleration)
                         this._accelerationTime = temp;
-                    else 
+                    else
                         this._decelerationTime = temp;
                     break;
             }
@@ -741,10 +752,18 @@ namespace motors {
             let stepsOrTime: number;
             switch (unit) {
                 case MoveUnit.Rotations:
+                    if (value < 0) {
+                        value = -value;
+                        speed = -speed;
+                    }
                     stepsOrTime = (value * 360) >> 0;
                     useSteps = true;
                     break;
                 case MoveUnit.Degrees:
+                    if (value < 0) {
+                        value = -value;
+                        speed = -speed;
+                    }
                     stepsOrTime = value >> 0;
                     useSteps = true;
                     break;

libs/core/pxt.json

@@ -25,7 +25,8 @@
         "dal.d.ts",
         "icons.jres",
         "ns.ts",
-        "platform.h"
+        "platform.h",
+        "integrator.ts"
     ],
     "testFiles": [
         "test.ts"

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

@@ -1,6 +1,6 @@
 # calibrate
 
-Reset the zero reference for the gyro to current position of the brick.
+Detects if the gyro is drifting and performs a full reset if needed.
 
 ```sig
 sensors.gyro2.calibrate()

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

@@ -0,0 +1,37 @@
+# compute Drift
+
+Called when the sensor is completely still, computes the current rate drift
+```sig
+sensors.gyro2.computeDrift()
+```
+
+The gyroscope sensor is subject to rate drifting. This means that the measurement reported by the sensor is off by a few degrees per second over time: it is drifting.
+
+To counter the effect of drifting, call the ``||sensors:compute drift||`` block when the sensor is still to compute the current drift. The rate meansurements will automatically be corrected based on that drift.
+
+## Example
+
+This example uses a gyro sensor to 
+
+```blocks
+let error = 0
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.White) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+pause(1000)
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.Blue) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+```
+
+## See Also
+
+[rate](/reference/sensors/gyro/rate),
+[compute drift](/reference/sensors/gyro/compute-drift)
+

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

@@ -0,0 +1,39 @@
+# drift
+
+Get the computed rate drift
+
+```sig
+sensors.gyro2.drift()
+```
+
+The gyroscope sensor is subject to rate drifting. This means that the measurement reported by the sensor is off by a few degrees per second over time: it is drifting.
+
+To counter the effect of drifting, call the ``||sensors:compute drift||`` block when the sensor is still to compute the current drift. The rate meansurements will automatically be corrected based on that drift.
+
+## Example
+
+This example uses a gyro sensor to drive straight until while color is detected.
+The robot is stopped, the drift is computed and another movement is done.
+
+```blocks
+let error = 0
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.White) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+pause(1000)
+sensors.gyro2.computeDrift()
+while (sensors.color3.color() != ColorSensorColor.Blue) {
+    error = sensors.gyro2.rate() * -1
+    motors.largeBC.steer(error, 50)
+}
+motors.stopAll()
+```
+
+## See Also
+
+[rate](/reference/sensors/gyro/rate),
+[compute drift](/reference/sensors/gyro/compute-drift)
+

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()
+```

libs/gyro-sensor/gyro.ts

@@ -7,14 +7,15 @@ const enum GyroSensorMode {
 namespace sensors {
     //% fixedInstances
     export class GyroSensor extends internal.UartSensor {
-        private calibrating: boolean;
+        private _calibrating: boolean;
         private _drift: number;
-        private _driftCorrection: boolean;
+        private _angle: control.EulerIntegrator;
         constructor(port: number) {
             super(port)
-            this.calibrating = false;
+            this._calibrating = false;
             this._drift = 0;
-            this._driftCorrection = false;
+            this._angle = new control.EulerIntegrator();
+            this._setMode(GyroSensorMode.Rate);
             this.setMode(GyroSensorMode.Rate);
         }
 
@@ -23,13 +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)
+            // decrecated
-                this._drift = 0;
+        }
-            this._setMode(m)
+
+        isCalibrating(): boolean {
+            return this._calibrating;
         }
 
         /**
@@ -46,11 +51,10 @@ namespace sensors {
         //% group="Gyro Sensor"
         angle(): number {
             this.poke();
-            if (this.calibrating)
+            if (this._calibrating)
-                pauseUntil(() => !this.calibrating, 2000);
+                pauseUntil(() => !this._calibrating, 2000);
 
-            this.setMode(GyroSensorMode.Angle);
+            return Math.round(this._angle.value);
-            return this._query();
         }
 
         /**
@@ -67,21 +71,13 @@ namespace sensors {
         //% group="Gyro Sensor"
         rate(): number {
             this.poke();
-            if (this.calibrating)
+            if (this._calibrating)
-                pauseUntil(() => !this.calibrating, 2000);
+                pauseUntil(() => !this._calibrating, 2000);
-
+            return this._query() - this._drift;
-            this.setMode(GyroSensorMode.Rate);
-            let curr = this._query();
-            if (Math.abs(curr) < 4 && this._driftCorrection) {
-                const p = 0.01;
-                this._drift = (1 - p) * this._drift + p * curr;
-                curr = Math.round(curr - this._drift);
-            }
-            return curr;
         }
 
         /**
-         * Forces a calibration of the with light progress indicators. 
+         * Detects if calibration is necessary and performs a full reset, drift computation.
          * Must be called when the sensor is completely still.
          */
         //% help=sensors/gyro/calibrate
@@ -93,16 +89,30 @@ 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);
 
+            // compute drift
+            this.computeDriftNoCalibration();
+            if (Math.abs(this.drift()) < 0.1) {
+                // no drift, skipping calibration
+                brick.setStatusLight(StatusLight.Green); // success
+                pause(1000);
+                brick.setStatusLight(statusLight); // resture previous light
+
+                // and we're done
+                this._angle.reset();
+                this._calibrating = false;
+                return;
+            }
+
             // calibrating
             brick.setStatusLight(StatusLight.OrangePulse);
 
@@ -111,37 +121,31 @@ namespace sensors {
             // wait till sensor is live
             pauseUntil(() => this.isActive(), 7000);
             // mode toggling
-            this.setMode(GyroSensorMode.Rate);
+            this._setMode(GyroSensorMode.Rate);
-            this.setMode(GyroSensorMode.Angle);
+            this._setMode(GyroSensorMode.Angle);
-            // switch back to the desired mode
+            this._setMode(GyroSensorMode.Rate);
-            this.setMode(this.mode);
 
             // 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;
             }
 
-            // compute drift
+            // switch to rate mode
-            this._drift = 0;
+            this.computeDriftNoCalibration();
-            if (this._driftCorrection && this.mode == GyroSensorMode.Rate) {
-                const n = 100;
-                for (let i = 0; i < n; ++i) {
-                    this._drift += this._query();
-                    pause(4);
-                }
-                this._drift /= n;
-            }
 
+            // and done
             brick.setStatusLight(StatusLight.Green); // success
             pause(1000);
             brick.setStatusLight(statusLight); // resture previous light
 
             // and we're done
-            this.calibrating = false;
+            this._angle.reset();
+            this._calibrating = false;
         }
 
         /**
@@ -153,34 +157,117 @@ namespace sensors {
         //% parts="gyroscope"
         //% blockNamespace=sensors
         //% this.fieldEditor="ports"
-        //% weight=50
+        //% 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;
         }
 
         /**
          * Gets the computed rate drift
          */
-        //%
+        //% help=sensors/gyro/drift
+        //% block="**gyro** %this|drift"
+        //% blockId=gyroDrift
+        //% parts="gyroscope"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% weight=9 blockGap=8
+        //% group="Gyro Sensor"
         drift(): number {
             return this._drift;
         }
 
         /**
-         * Enables or disable drift correction
+         * Computes the current sensor drift when using rate measurements.
-         * @param enabled
          */
-        //%
+        //% help=sensors/gyro/compute-drift
-        setDriftCorrection(enabled: boolean) {
+        //% block="compute **gyro** %this|drift"
-            this._driftCorrection = enabled;
+        //% blockId=gyroComputeDrift
+        //% parts="gyroscope"
+        //% blockNamespace=sensors
+        //% this.fieldEditor="ports"
+        //% weight=10 blockGap=8
+        //% group="Gyro Sensor"
+        computeDrift() {
+            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._drift = 0;
+            const n = 10;
+            let d = 0;
+            for (let i = 0; i < n; ++i) {
+                d += this._query();
+                pause(20);
+            }
+            this._drift = d / n;
+            this._angle.reset();
+        }
+
+        _info(): string {
+            if (this._calibrating)
+                return "cal...";
+
+            let r = `${this._query()}r`;
+            if (this._drift != 0)
+                r += `-${this._drift | 0}`;
+            return r;
         }
     }
 
@@ -195,4 +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;
+    }
 }

libs/screen/targetoverrides.ts

@@ -26,6 +26,7 @@ namespace brick {
         None,
         ShowLines,
         Image,
+        Ports,
         Custom
     }
     let screenMode = ScreenMode.None;
@@ -124,15 +125,30 @@ namespace brick {
     //% help=brick/show-ports blockGap=8
     //% weight=10 group="Screen"
     export function showPorts() {
-        screenMode = ScreenMode.Custom;
+        if (screenMode == ScreenMode.Ports) return;
 
+        screenMode = ScreenMode.Ports;
+        renderPorts();
+        control.runInParallel(function() {
+            while(screenMode == ScreenMode.Ports) {
+                renderPorts();
+                pause(50);
+            }
+        })
+    }
+
+    function renderPorts() {
         const col = 44;
         const lineHeight8 = image.font8.charHeight + 2;
         clearScreen();
 
         function scale(x: number) {
-            if (Math.abs(x) > 1000) return Math.round(x / 100) / 10 + "k";
+            if (Math.abs(x) >= 5000) {
-            return ("" + (x >> 0));
+                const k = Math.floor(x / 1000);
+                const r = Math.round((x - 1000 * k) / 100);
+                return `${k}.${r}k`
+            }
+            return ("" + (x || 0));
         }
 
         // motors
@@ -143,7 +159,7 @@ namespace brick {
             const x = i * col;
             screen.print("ABCD"[i], x + 2, 1 * lineHeight8, 1, image.font8)
             screen.print(`${scale(data.actualSpeed)}%`, x + 2, 3 * lineHeight8, 1, image.font8)
-            screen.print(`${scale(data.count)}>`, x + 2, 4 * lineHeight8, 1, image.font5)
+            screen.print(`${scale(data.count)}>`, x + 2, 4 * lineHeight8, 1, image.font8)
         }
         screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
 

libs/tests/targetoverrides.ts

@@ -4,9 +4,9 @@ tests.onEvent(TestEvent.RunSetUp, function() {
 })
 tests.onEvent(TestEvent.TestSetUp, function() {
     motors.stopAll();
-    motors.resetAllMotors();
+    motors.resetAll();
 })
 tests.onEvent(TestEvent.TestTearDown, function() {
     motors.stopAll();
-    motors.resetAllMotors();
+    motors.resetAll();
 })

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.2.9",
+  "version": "1.2.22",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [
@@ -40,7 +40,7 @@
   },
   "dependencies": {
     "pxt-common-packages": "0.23.61",
-    "pxt-core": "4.0.10"
+    "pxt-core": "4.0.11"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

sim/state/gyro.ts

@@ -1,5 +1,5 @@
 namespace pxsim {
-    const enum GyroSensorMode {
+    export const enum GyroSensorMode {
         None = -1,
         Angle = 0,
         Rate = 1,
@@ -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) {
@@ -19,23 +18,20 @@ namespace pxsim {
             return DAL.DEVICE_TYPE_GYRO;
         }
 
-        setAngle(angle: number) {
-            if (this.angle != angle) {
-                this.angle = angle;
-                this.setChangedState();
-            }
-        }
-
         setRate(rate: number) {
+            rate = rate | 0;
             if (this.rate != rate) {
                 this.rate = rate;
                 this.setChangedState();
             }
         }
 
+        getRate() {
+            return this.rate;
+        }
+
         getValue() {
-            return this.mode == GyroSensorMode.Angle ? this.angle :
+            return this.getRate();
-                this.mode == GyroSensorMode.Rate ? this.rate : 0;
         }
     }
 }

sim/visuals/controlView.ts

@@ -49,11 +49,13 @@ namespace pxsim.visuals {
         }
 
         private updateDimensions(width: number, height: number, strict?: boolean) {
+            width = Math.max(0, width);
+            height = Math.max(0, height);
             if (this.content) {
                 const currentWidth = this.getInnerWidth();
                 const currentHeight = this.getInnerHeight();
-                const newHeight = currentHeight / currentWidth * width;
+                const newHeight = Math.max(0, currentHeight / currentWidth * width);
-                const newWidth = currentWidth / currentHeight * height;
+                const newWidth = Math.max(0, currentWidth / currentHeight * height);
                 if (strict) {
                     this.content.setAttribute('width', `${width}`);
                     this.content.setAttribute('height', `${height}`);

sim/visuals/controls/rotationSlider.ts

@@ -1,13 +1,15 @@
 
 
 namespace pxsim.visuals {
+    const MAX_RATE = 40;
 
     export class RotationSliderControl extends ControlView<GyroSensorNode> {
         private group: SVGGElement;
         private slider: SVGGElement;
+        private rateText: SVGTextElement;
 
         private static SLIDER_WIDTH = 70;
-        private static SLIDER_HEIGHT = 78;
+        //private static SLIDER_HEIGHT = 78;
 
         getInnerView(parent: SVGSVGElement, globalDefs: SVGDefsElement) {
             this.group = svg.elt("g") as SVGGElement;
@@ -23,6 +25,14 @@ 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.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',
+                'class': 'sim-text inverted number'
+            }) as SVGTextElement;
+
             const dragSurface = svg.child(this.group, "rect", {
                 x: 0,
                 y: 0,
@@ -61,7 +71,10 @@ namespace pxsim.visuals {
                 return;
             }
             const node = this.state;
-            const percentage = node.getValue();
+            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})`);
@@ -73,8 +86,10 @@ namespace pxsim.visuals {
             const bBox = this.content.getBoundingClientRect();
             let t = Math.max(0, Math.min(1, (width + bBox.left / this.scaleFactor - cur.x / this.scaleFactor) / width))
 
+            t = -(t - 0.5) * 2; // [-1,1]
+
             const state = this.state;
-            state.setRate((1 - t) * (100));
+            state.setRate(MAX_RATE * t);
         }
     }
 

targetconfig.json

@@ -5,6 +5,10 @@
             "LEGO"
         ],
         "approvedRepos": [
+            "microsoft/pxt-automation"
+        ],
+        "preferredRepos": [
+            "microsoft/pxt-automation"
         ]
     },
     "galleries": {
@@ -14,6 +18,7 @@
         "Touch Sensor Tutorials": "tutorials/touch-sensor",
         "Color Sensor Tutorials": "tutorials/color-sensor",
         "Ultrasonic Sensor Tutorials": "tutorials/ultrasonic-sensor",
+        "Gyro Tutorials": "tutorials/gyro",
         "Infrared Sensor Tutorials": "tutorials/infrared-sensor",
         "FLL / City Shaper": "tutorials/city-shaper",
         "Design Engineering": "design-engineering",
@@ -22,6 +27,6 @@
         "Videos": "videos"
     },
     "electronManifest": {
-        "latest": "v1.1.20"
+        "latest": "v1.1.22"
     }
 }