slow down device poller

* refactor bootsequence

* inf can be null

* align elements

docs/reference/brick/exit-program.md

@@ -0,0 +1,18 @@
+# exit Program
+
+Stops the program and returns to the brick menu
+
+```sig
+brick.exitProgram();
+```
+
+## Example
+
+Do a sequence of motor commands and stop the program.
+
+```blocks
+motors.largeA.run(50)
+pause(500)
+motors.stopAll()
+brick.exitProgram();
+```

libs/color-sensor/color.ts

@@ -59,9 +59,9 @@ namespace sensors {
 
         constructor(port: number) {
             super(port)
-            this._setMode(ColorSensorMode.None);
             this.thresholdDetector = new sensors.ThresholdDetector(this.id());
             this.calibrating = false;
+            this.setMode(ColorSensorMode.ReflectedLightIntensity);
         }
 
         _colorEventValue(value: number) {
@@ -176,8 +176,8 @@ namespace sensors {
         //% group="Color Sensor"
         //% blockGap=8
         color(): ColorSensorColor {
-            this.poke();
             this.setMode(ColorSensorMode.Color)
+            this.poke();
             return this.getNumber(NumberFormat.UInt8LE, 0)
         }
 
@@ -194,8 +194,8 @@ namespace sensors {
         //% group="Color Sensor"
         //% blockGap=8
         rgbRaw(): number[] {
-            this.poke();
             this.setMode(ColorSensorMode.RgbRaw);
+            this.poke();
             return [this.getNumber(NumberFormat.UInt16LE, 0), this.getNumber(NumberFormat.UInt16LE, 2), this.getNumber(NumberFormat.UInt16LE, 4)];
         }
 
@@ -248,8 +248,8 @@ namespace sensors {
         //% weight=87 blockGap=8
         //% group="Color Sensor"
         light(mode: LightIntensityMode) {
-            this.poke();
             this.setMode(<ColorSensorMode><number>mode)
+            this.poke();
             switch (mode) {
                 case LightIntensityMode.ReflectedRaw:
                     return this.reflectedLightRaw();
@@ -279,8 +279,8 @@ namespace sensors {
          */
         //%
         reflectedLightRaw(): number {
-            this.poke();
             this.setMode(ColorSensorMode.RefRaw);
+            this.poke();
             return this.getNumber(NumberFormat.UInt16LE, 0);
         }
 

libs/core/battery.ts

@@ -26,6 +26,7 @@ namespace brick {
      */
     //% blockId=brickBatteryProperty block="battery %property"
     //% group="Battery"
+    //% blockGap=8
     //% help=brick/battery-property
     export function batteryInfo(property: BatteryProperty): number {
         const info = sensors.internal.getBatteryInfo();

libs/core/buttons.ts

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

libs/core/dal.d.ts

@@ -309,6 +309,8 @@ declare const enum DAL {
     DEVICE_TYPE_NXT_LIGHT = 2,
     DEVICE_TYPE_NXT_SOUND = 3,
     DEVICE_TYPE_NXT_COLOR = 4,
+    DEVICE_TYPE_NXT_ULTRASONIC = 5,
+    DEVICE_TYPE_NXT_TEMPERATURE = 6,
     DEVICE_TYPE_TACHO = 7,
     DEVICE_TYPE_MINITACHO = 8,
     DEVICE_TYPE_NEWTACHO = 9,

libs/core/ev3const.h

@@ -11,6 +11,8 @@
 #define DEVICE_TYPE_NXT_LIGHT 2
 #define DEVICE_TYPE_NXT_SOUND 3
 #define DEVICE_TYPE_NXT_COLOR 4
+#define DEVICE_TYPE_NXT_ULTRASONIC 5
+#define DEVICE_TYPE_NXT_TEMPERATURE 6
 #define DEVICE_TYPE_TACHO 7
 #define DEVICE_TYPE_MINITACHO 8
 #define DEVICE_TYPE_NEWTACHO 9

libs/core/input.ts

@@ -82,7 +82,7 @@ namespace sensors.internal {
         poller: Poller;
 
         constructor(p: number) {
-            this.port = p
+            this.port = p; // 0-based
             this.connType = DAL.CONN_NONE
             this.devType = DAL.DEVICE_TYPE_NONE
             this.iicid = ''
@@ -121,7 +121,7 @@ namespace sensors.internal {
 
         powerMM = control.mmap("/dev/lms_power", 2, 0)
 
-        devPoller = new Poller(250, () => { return hashDevices(); },
+        devPoller = new Poller(500, () => { return hashDevices(); },
             (prev, curr) => {
                 detectDevices();
             });
@@ -208,12 +208,14 @@ namespace sensors.internal {
         }
     }
 
-    export function getBatteryInfo(): {
+    export interface BatteryInfo {
         level: number;
         Ibatt: number,
         Vbatt: number,
         Imotor: number
-    } {
+    }
+
+    export function getBatteryInfo(): BatteryInfo {
         init();
         if (!batteryInfo) updateBatteryInfo();
         const CinCnt = batteryInfo.CinCnt;
@@ -277,42 +279,61 @@ void      cUiUpdatePower(void)
         for (let i = 0; i < conns.length; ++i) {
             r = (r << 8 | conns[i]);
         }
+        //control.dmesg(`devices hash: ${r}`);
         return r;
     }
 
     let nonActivated = 0;
     function detectDevices() {
-        //control.dmesg(`detect devices (${nonActivated} na)`)
+        control.dmesg(`detect devices (${nonActivated} na)`)
-        const conns = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
+        const inDcm = analogMM.slice(AnalogOff.InDcm, DAL.NUM_INPUTS)
+        const inConn = analogMM.slice(AnalogOff.InConn, DAL.NUM_INPUTS)
         let numChanged = 0;
         const uartSensors: SensorInfo[] = [];
 
         for (const sensorInfo of sensorInfos) {
-            const newConn = conns[sensorInfo.port]
+            const newConn = inConn[sensorInfo.port]
             if (newConn == sensorInfo.connType) {
                 // control.dmesg(`connection unchanged ${newConn} at ${sensorInfo.port}`)
                 continue;
             }
             numChanged++
             sensorInfo.connType = newConn
-            sensorInfo.devType = DAL.DEVICE_TYPE_NONE
+            sensorInfo.devType = DAL.DEVICE_TYPE_NONE;
-            if (newConn == DAL.CONN_INPUT_UART) {
+            switch (newConn) {
-                control.dmesg(`new UART connection at ${sensorInfo.port}`)
+                case DAL.CONN_INPUT_UART: {
-                updateUartMode(sensorInfo.port, 0);
+                    control.dmesg(`new UART connection at ${sensorInfo.port}`)
-                uartSensors.push(sensorInfo);
+                    updateUartMode(sensorInfo.port, 0);
-            } else if (newConn == DAL.CONN_NXT_IIC) {
+                    uartSensors.push(sensorInfo);
-                control.dmesg(`new IIC connection at ${sensorInfo.port}`)
+                    break;
-                sensorInfo.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
+                }
-                sensorInfo.iicid = readIICID(sensorInfo.port)
+                case DAL.CONN_NXT_IIC: {
-                control.dmesg(`IIC ID ${sensorInfo.iicid.length}`)
+                    control.dmesg(`new NXT IIC connection at ${sensorInfo.port}`)
-            } else if (newConn == DAL.CONN_INPUT_DUMB) {
+                    sensorInfo.devType = DAL.DEVICE_TYPE_IIC_UNKNOWN
-                control.dmesg(`new DUMB connection at ${sensorInfo.port}`)
+                    sensorInfo.iicid = readIICID(sensorInfo.port)
-                // TODO? for now assume touch
+                    control.dmesg(`IIC ID ${sensorInfo.iicid.length}`)
-                sensorInfo.devType = DAL.DEVICE_TYPE_TOUCH
+                    break;
-            } else if (newConn == DAL.CONN_NONE || newConn == 0) {
+                } case DAL.CONN_NXT_DUMB: { // analog NXT sensor
-                //control.dmesg(`disconnect at port ${sensorInfo.port}`)
+                    control.dmesg(`new NXT analog connection at ${sensorInfo.port}`);
-            } else {
+                    sensorInfo.devType = inDcm[sensorInfo.port];
-                control.dmesg(`unknown connection type: ${newConn} at ${sensorInfo.port}`)
+                    control.dmesg(`NXT analog dev type ${sensorInfo.devType}`);
+                    break;
+                }
+                case DAL.CONN_INPUT_DUMB: {
+                    control.dmesg(`new DUMB connection at ${sensorInfo.port}`)
+                    // TODO? for now assume touch
+                    sensorInfo.devType = DAL.DEVICE_TYPE_TOUCH
+                    break;
+                }
+                case DAL.CONN_NONE:
+                case 0: {
+                    //control.dmesg(`disconnect at port ${sensorInfo.port}`)
+                    break;
+                }
+                default: {
+                    control.dmesg(`unknown connection type: ${newConn} at ${sensorInfo.port}`)
+                    break;
+                }
             }
         }
 
@@ -425,20 +446,20 @@ void      cUiUpdatePower(void)
         constructor(port: number) {
             super(port)
             this.mode = 0
-            this.realmode = 0
+            this.realmode = 0;
         }
 
         _activated() {
-            this.realmode = 0
+            this.realmode = 0;
             this._setMode(this.mode)
         }
 
         protected _setMode(m: number) {
-            //control.dmesg(`_setMode p=${this.port} m: ${this.realmode} -> ${m}`)
             let v = m | 0
             this.mode = v
             if (!this.isActive()) return
             if (this.realmode != this.mode) {
+                control.dmesg(`_setMode p=${this._port} m: ${this.realmode} -> ${v}`)
                 this.realmode = v
                 setUartMode(this._port, v)
             }
@@ -568,18 +589,19 @@ void      cUiUpdatePower(void)
         while (ports.length) {
             const port = ports.pop();
             const status = waitNonZeroUartStatus(port)
-            control.dmesg(`UART set mode ${status} at ${port}`);
+            control.dmesg(`UART status ${status} at ${port}`);
         }
     }
 
     function updateUartMode(port: number, mode: number) {
-        control.dmesg(`UART set mode to ${mode} at ${port}`)
+        control.dmesg(`UART update mode to ${mode} at ${port}`)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_INPUT_UART)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, 33)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
     }
 
     function setUartMode(port: number, mode: number) {
+        control.dmesg(`UART set mode ${mode} at ${port}`);
         const UART_PORT_CHANGED = 1
         while (true) {
             if (port < 0) return
@@ -590,7 +612,7 @@ void      cUiUpdatePower(void)
                 control.dmesg(`UART clear changed at ${port}`)
                 uartClearChange(port)
             } else {
-                control.dmesg(`UART status ${status}`);
+                control.dmesg(`UART status ${status} at ${port}`);
                 break;
             }
             pause(10)
@@ -605,15 +627,16 @@ void      cUiUpdatePower(void)
             DAL.MAX_DEVICE_DATALENGTH)
     }
 
-    function getUartNumber(fmt: NumberFormat, off: number, port: number) {
+    function getUartNumber(fmt: NumberFormat, off: number, port: number): number {
         if (port < 0) return 0
-        let index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
+        const index = uartMM.getNumber(NumberFormat.UInt16LE, UartOff.Actual + port * 2)
         return uartMM.getNumber(fmt,
             UartOff.Raw + DAL.MAX_DEVICE_DATALENGTH * 300 * port + DAL.MAX_DEVICE_DATALENGTH * index + off)
     }
 
     export function setIICMode(port: number, type: number, mode: number) {
         if (port < 0) return;
+        control.dmesg(`iic set type ${type} mode ${mode} at ${port}`)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Connection + port, DAL.CONN_NXT_IIC)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Type + port, type)
         devcon.setNumber(NumberFormat.Int8LE, DevConOff.Mode + port, mode)
@@ -891,4 +914,4 @@ namespace sensors {
             }
         }
     }
-}
+}

libs/core/output.ts

@@ -159,6 +159,7 @@ namespace motors {
         private _accelerationTime: number;
         private _decelerationSteps: number;
         private _decelerationTime: number;
+        private _inverted: boolean;
 
         protected static output_types: number[] = [0x7, 0x7, 0x7, 0x7];
 
@@ -176,6 +177,7 @@ namespace motors {
             this._accelerationTime = 0;
             this._decelerationSteps = 0;
             this._decelerationTime = 0;
+            this._inverted = false;
         }
 
         /**
@@ -225,9 +227,11 @@ namespace motors {
         //% help=motors/motor/set-inverted
         setInverted(inverted: boolean) {
             this.init();
-            const b = mkCmd(this._port, DAL.opOutputPolarity, 1)
+            this._inverted = inverted;
-            b.setNumber(NumberFormat.Int8LE, 2, inverted ? 0 : 1);
+        }
-            writePWM(b)
+
+        protected invertedFactor(): number {
+            return this._inverted ? -1 : 1;
         }
 
         /** 
@@ -294,8 +298,9 @@ namespace motors {
         }
 
         private normalizeSchedule(speed: number, step1: number, step2: number, step3: number, unit: MoveUnit): MoveSchedule {
+            // motor polarity is not supported at the firmware level for sync motor operations
             const r: MoveSchedule = {
-                speed: Math.clamp(-100, 100, speed >> 0),
+                speed: Math.clamp(-100, 100, speed | 0) * this.invertedFactor(),
                 useSteps: true,
                 steps: [step1 || 0, step2 || 0, step3 || 0]
             }
@@ -562,6 +567,7 @@ namespace motors {
 
         private __init() {
             this.setOutputType(this._large);
+            this.setInverted(false);
         }
 
         /**
@@ -741,7 +747,7 @@ namespace motors {
         //% help=motors/synced/steer
         steer(turnRatio: number, speed: number, value: number = 0, unit: MoveUnit = MoveUnit.MilliSeconds) {
             this.init();
-            speed = Math.clamp(-100, 100, speed >> 0);
+            speed = Math.clamp(-100, 100, speed >> 0) * this.invertedFactor();
             if (!speed) {
                 this.stop();
                 return;

libs/core/platform.cpp

@@ -120,7 +120,7 @@ void stopLMS() {
         if (!pid)
             continue;
         char namebuf[100];
-        snprintf(namebuf, 1000, "/proc/%d/cmdline", pid);
+        snprintf(namebuf, 100, "/proc/%d/cmdline", pid);
         FILE *f = fopen(namebuf, "r");
         if (f) {
             fread(namebuf, 1, 99, f);
@@ -195,5 +195,42 @@ void target_startup() {
 
 void initKeys() {}
 
+static const char *progPath = "/mnt/ramdisk/prjs/BrkProg_SAVE";
+
+// These are disabled except when building File_manager.pdf
+// %
+void deletePrjFile(String filename) {
+    const char *d = filename->getUTF8Data();
+    if (strlen(d) > 500 || strchr(d, '/'))
+        return;
+    char buf[1024];
+    snprintf(buf, sizeof(buf), "%s/%s", progPath, d);
+    unlink(buf);
+}
+
+// %
+RefCollection *listPrjFiles() {
+    auto res = Array_::mk();
+    registerGCObj(res);
+
+    auto dp = opendir(progPath);
+
+    for (;;) {
+        dirent *ep = dp ? readdir(dp) : NULL;
+        if (!ep)
+            break;
+        if (ep->d_name[0] == '.')
+            continue;
+        auto str = mkString(ep->d_name, -1);
+        registerGCObj(str);
+        res->head.push((TValue)str);
+        unregisterGCObj(str);
+    }
+    if (dp)
+        closedir(dp);
+    unregisterGCObj(res);
+
+    return res;
+}
 
 }

libs/ev3/brick.ts

@@ -0,0 +1,13 @@
+namespace brick {
+    /**
+     * Exits the program to the main menu. (in the simulator restarts it)
+     */
+    //% blockId=loopstop block="exit program"
+    //% help=reference/brick/exit-program
+    //% weight=10
+    //% blockGap=8
+    //% group="Buttons"
+    export function exitProgram() {
+        control.reset();
+    }
+}

libs/ev3/console.ts

@@ -21,6 +21,7 @@ namespace console._screen {
             console.addListener(log);
             brick.buttonUp.onEvent(ButtonEvent.Bumped, () => scroll(-3))
             brick.buttonDown.onEvent(ButtonEvent.Bumped, () => scroll(3))
+            brick.showConsole();
         }
     }
 

libs/ev3/ns.ts

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

libs/ev3/pxt.json

@@ -2,8 +2,9 @@
     "name": "ev3",
     "description": "The EV3 library",
     "files": [
-        "README.md",
+        "README.md",        
         "ns.ts",
+        "brick.ts",
         "startup.ts",
         "images.jres",
         "images.ts",

libs/ev3/startup.ts

@@ -2,9 +2,5 @@
 console.addListener(function(priority: ConsolePriority, msg: string) {
     control.dmesg(msg.substr(0, msg.length - 1))
 })
-// pulse green, play startup sound, turn off light
+// boot sequence
-brick.setStatusLight(StatusLight.GreenPulse);
+brick.showBoot();
-// We pause for 100ms to give time to read sensor values, so they work in on_start block
-pause(400)
-// and we're ready
-brick.setStatusLight(StatusLight.Off);

libs/screen/targetoverrides.ts

@@ -27,6 +27,7 @@ namespace brick {
         ShowLines,
         Image,
         Ports,
+        Console,
         Custom
     }
     let screenMode = ScreenMode.None;
@@ -129,8 +130,8 @@ namespace brick {
 
         screenMode = ScreenMode.Ports;
         renderPorts();
-        control.runInParallel(function() {
+        control.runInParallel(function () {
-            while(screenMode == ScreenMode.Ports) {
+            while (screenMode == ScreenMode.Ports) {
                 renderPorts();
                 pause(50);
             }
@@ -140,8 +141,18 @@ namespace brick {
     function renderPorts() {
         const col = 44;
         const lineHeight8 = image.font8.charHeight + 2;
+        const h = screen.height;
+
         clearScreen();
 
+        for (let i = 0; i < 4; ++i) {
+            const x = i * col + 2;
+            screen.print("ABCD"[i], x, 1 * lineHeight8, 1, image.font8)
+            screen.print((i + 1).toString(), x, h - lineHeight8, 1, image.font8)
+        }
+        screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
+        screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
+
         function scale(x: number) {
             if (Math.abs(x) >= 5000) {
                 const k = Math.floor(x / 1000);
@@ -155,27 +166,44 @@ namespace brick {
         const datas = motors.getAllMotorData();
         for (let i = 0; i < datas.length; ++i) {
             const data = datas[i];
+            const x = i * col + 2;
             if (!data.actualSpeed && !data.count) continue;
-            const x = i * col;
+            screen.print(`${scale(data.actualSpeed)}%`, x, 3 * lineHeight8, 1, image.font8)
-            screen.print("ABCD"[i], x + 2, 1 * lineHeight8, 1, image.font8)
+            screen.print(`${scale(data.count)}>`, x, 4 * lineHeight8, 1, image.font8)
-            screen.print(`${scale(data.actualSpeed)}%`, x + 2, 3 * lineHeight8, 1, image.font8)
-            screen.print(`${scale(data.count)}>`, x + 2, 4 * lineHeight8, 1, image.font8)
         }
-        screen.drawLine(0, 5 * lineHeight8, screen.width, 5 * lineHeight8, 1);
 
         // sensors
         const sis = sensors.internal.getActiveSensors();
-        const h = screen.height;
-        screen.drawLine(0, h - 5 * lineHeight8, screen.width, h - 5 * lineHeight8, 1)
         for (let i = 0; i < sis.length; ++i) {
             const si = sis[i];
-            const x = (si.port() - 1) * col;
+            const x = (si.port() - 1) * col + 2;
             const inf = si._info();
-            screen.print(si.port() + "", x, h - 4 * lineHeight8, 1, image.font8)
+            if (inf)
-            screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
+                screen.print(inf, x, h - 2 * lineHeight8, 1, inf.length > 4 ? image.font5 : image.font8);
         }
     }
 
+    export function showBoot() {
+        // pulse green, play startup sound, turn off light
+        brick.setStatusLight(StatusLight.GreenPulse);
+        // We pause for 100ms to give time to read sensor values, so they work in on_start block
+        pause(400)
+        // and we're ready
+        brick.setStatusLight(StatusLight.Off);
+        // always show port by default if no UI is set
+        control.runInParallel(function () {
+            // show ports if nothing is has been shown
+            if (screenMode != ScreenMode.None) return;
+            showPorts();
+        })
+    }
+
+    export function showConsole() {
+        console.sendToScreen();
+        screenMode = ScreenMode.Console;
+        clearScreen();
+    }
+
     /**
      * An image
      * @param image the image

package.json

@@ -1,6 +1,6 @@
 {
   "name": "pxt-ev3",
-  "version": "1.4.1",
+  "version": "1.4.7",
   "description": "LEGO MINDSTORMS EV3 for Microsoft MakeCode",
   "private": false,
   "keywords": [
@@ -45,8 +45,8 @@
     "@types/web-bluetooth": "0.0.4"
   },
   "dependencies": {
-    "pxt-common-packages": "6.16.7",
+    "pxt-common-packages": "6.16.10",
-    "pxt-core": "5.25.6"
+    "pxt-core": "5.25.13"
   },
   "scripts": {
     "test": "node node_modules/pxt-core/built/pxt.js travis"

pxtarget.json

@@ -75,7 +75,6 @@
             "category": "loops"
         },
         "bannedCategories": [
-            "image"
         ]
     },
     "compileService": {

scripts/file_manager.ts

@@ -0,0 +1,97 @@
+//% shim=pxt::listPrjFiles
+function getPrjs() {
+    let programs = [
+        "pxt",
+        "my amazing robot",
+    ]
+    for (let i = 1; i < 6; ++i)
+        programs.push("Untitled-" + i)
+    return programs
+}
+
+//% shim=pxt::deletePrjFile
+function delPrj(fn: string) {
+    return
+}
+
+const programs = getPrjs()
+    .filter(s => s.substr(s.length - 4, 4) == ".rbf")
+    .map(s => s.substr(0, s.length - 4))
+    .filter(s => s != "File_manager")
+
+programs.push("")
+programs.push("Cancel")
+programs.push("Delete 0 files")
+
+let todel: boolean[] = []
+let scrollTop = 0
+let cursor = 0
+let confirm = false
+function showMenu() {
+    if (cursor < scrollTop + 2)
+        scrollTop = cursor - 2
+    else if (cursor > scrollTop + 11)
+        scrollTop = cursor - 11
+    if (scrollTop < 0)
+        scrollTop = 0
+    let num = 0
+    for (let i = 0; i < todel.length; ++i)
+        if (todel[i]) num++
+    programs[programs.length - 1] =
+        confirm ? "Enter to confirm" : "Delete " + num + " file(s)"
+
+    brick.clearScreen()
+
+    const h = brick.lineHeight()
+    for (let i = 0; i < 13; ++i) {
+        const y = i * h
+        const idx = scrollTop + i
+        const fg = idx == cursor ? 0 : 1
+        const bg = idx == cursor ? 1 : 0
+        // screen.fillRect(0, y, screen.width, h, bg);
+        let text = (idx == cursor ? ">" : " ")
+            + (todel[idx] ? "*" : " ")
+            + " "
+            + (programs[scrollTop + i] || "")
+        screen.print(text, 0, y, fg, brick.font);
+    }
+}
+function move(d: number) {
+    confirm = false
+    const nc = cursor + d
+    if (0 <= nc && nc < programs.length)
+        cursor = nc
+    showMenu()
+}
+brick.buttonDown.onEvent(ButtonEvent.Pressed, () => move(1))
+brick.buttonUp.onEvent(ButtonEvent.Pressed, () => move(-1))
+brick.buttonEnter.onEvent(ButtonEvent.Pressed, function () {
+    if (cursor < programs.length - 3) {
+        todel[cursor] = !todel[cursor]
+        move(1)
+    } else if (cursor == programs.length - 3) {
+        // nothing
+    } else if (cursor == programs.length - 2) {
+        control.reset()
+    } else if (cursor == programs.length - 1) {
+        if (todel.every(x => !x))
+            return
+        if (confirm) {
+            brick.clearScreen()
+            brick.showString("deleting...", 6)
+            for (let i = 0; i < todel.length; ++i) {
+                if (todel[i]) {
+                    delPrj(programs[i] + ".elf")
+                    delPrj(programs[i] + ".rbf")
+                }
+            }
+            pause(1000)
+            control.reset()
+        } else {
+            confirm = true
+            showMenu()
+        }
+    }
+})
+showMenu()
+

sim/state/motornode.ts

@@ -9,7 +9,6 @@ namespace pxsim {
         private angle: number = 0;
         private tacho: number = 0;
         private speed: number = 0;
-        private polarity: number = 1; // -1, 1 or -1
 
         private started: boolean;
         private speedCmd: DAL;
@@ -31,7 +30,7 @@ namespace pxsim {
         }
 
         getSpeed() {
-            return Math.round(this.speed * (!this._synchedMotor && this.polarity == 0 ? -1 : 1));
+            return Math.round(this.speed);
         }
 
         getAngle() {
@@ -82,16 +81,6 @@ namespace pxsim {
             return this.id == NodeType.LargeMotor;
         }
 
-        setPolarity(polarity: number) {
-            // Either 1 or 255 (reverse)
-            /*
-                -1 : Motor will run backward  
-                0 : Motor will run opposite direction  
-                1 : Motor will run forward             
-            */
-            this.polarity = polarity;
-        }
-
         reset() {
             // not sure what reset does...
         }

sim/state/output.ts

@@ -119,11 +119,7 @@ namespace pxsim {
                             return 2;
                         }
                         case DAL.opOutputPolarity: {
-                            // reverse
+                            console.error("opOutputPolarity not supported");
-                            const port = buf.data[1];
-                            const polarity = pxsim.BufferMethods.getNumber(buf, BufferMethods.NumberFormat.Int8LE, 2);
-                            const motors = ev3board().getMotor(port);
-                            motors.forEach(motor => motor.setPolarity(polarity));
                             return 2;
                         }
                         case DAL.opOutputSetType: {