diff --git a/docs/robot/lekce1/example-gridui/@types/adc.d.ts b/docs/robot/lekce1/example-gridui/@types/adc.d.ts
new file mode 100644
index 00000000..871de201
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/adc.d.ts
@@ -0,0 +1,24 @@
+declare module "adc" {
+    type Atten = number;
+
+    const Attenuation: {
+        readonly Db0: Atten;
+        readonly Db2_5: Atten;
+        readonly Db6: Atten;
+        readonly Db11: Atten;
+    };
+
+
+    /**
+     * Enable ADC on the given pin.
+     * @param pin The pin to enable ADC on.
+     */
+    function configure(pin: number, attenuation?: Atten): void;
+
+    /**
+     * Read the value of the given pin.
+     * @param pin The pin to read.
+     * @returns The value of the pin (0-1023)
+     */
+    function read(pin: number): number;
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/basicStream.d.ts b/docs/robot/lekce1/example-gridui/@types/basicStream.d.ts
new file mode 100644
index 00000000..70c9e06f
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/basicStream.d.ts
@@ -0,0 +1,22 @@
+declare interface Writable {
+    /**
+     * Write the given data to the stream.
+     * @param data The data to write.
+     */
+    write(data: string): void;
+}
+
+declare interface Readable {
+    /**
+     * Read a single character from the stream.
+     * @returns Promise that resolves to the character read.
+     */
+    get(): Promise<string>;
+
+    /**
+     * Read a chunk of data from the stream. The size of the chunk is
+     * given by the implementation and available data.
+     * @returns Promise that resolves to the data read.
+     */
+    read(): Promise<string>;
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/fs.d.ts b/docs/robot/lekce1/example-gridui/@types/fs.d.ts
new file mode 100644
index 00000000..a21dc650
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/fs.d.ts
@@ -0,0 +1,80 @@
+declare module "fs" {
+    interface File {
+        path: string;
+
+        /**
+         * Check if the file is open.
+         */
+        isOpen(): boolean;
+
+        /**
+         * Close the file.
+         */
+        close(): void;
+
+        /**
+         * Read characters from the file.
+         * @param len The number of characters to read.
+         */
+        read(len: number): string;
+
+        /**
+         * Write text to the file.
+         * @param text The text to write.
+         */
+        write(text: string): void;
+    }
+
+    /**
+     * Open the given file in the given mode.
+     * @param path The path to the file.
+     * @param mode The mode to open the file in ("r", "w", "a" and combinations).
+     */
+    function open(path: string, mode: string): File;
+
+    /**
+     * Check if the given path exists.
+     * @param path The path to check.
+     * @returns True if the path exists, false otherwise.
+     */
+    function exists(path: string): boolean;
+
+    /**
+     * Check if the given path is a file.
+     * @param path The path to check.
+     * @returns True if the path is a file, false otherwise.
+     */
+    function isFile(path: string): boolean;
+
+    /**
+     * Check if the given path is a directory.
+     * @param path The path to check.
+     * @returns True if the path is a directory, false otherwise.
+     */
+    function isDirectory(path: string): boolean;
+
+    /**
+     * Create a directory at the given path.
+     * @param path The path to create the directory at.
+     */
+    function mkdir(path: string): void;
+
+    /**
+     * Remove the file at the given path.
+     * @param path The path to the file to remove.
+     */
+    function rm(path: string): void;
+
+    /**
+     * Remove the directory at the given path.
+     * @param path The path to the directory to remove.
+     */
+    function rmdir(path: string): void;
+
+    /**
+     * List the files in the given directory.
+     * @param path The path to the directory to list.
+     * @returns An array of file names in the directory.
+     */
+    function readdir(path: string): string[];
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/gpio.d.ts b/docs/robot/lekce1/example-gridui/@types/gpio.d.ts
new file mode 100644
index 00000000..09c167db
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/gpio.d.ts
@@ -0,0 +1,49 @@
+declare module "gpio" {
+    const PinMode: {
+        readonly DISABLE: number,
+        readonly OUTPUT: number,
+        readonly INPUT: number,
+        readonly INPUT_PULLUP: number,
+        readonly INPUT_PULLDOWN: number,
+    };
+
+    interface EventInfo {
+        timestamp: Timestamp;
+    }
+
+    /**
+     * Configure the given pin.
+     * @param pin The pin to configure.
+     * @param mode The mode to configure the pin in.
+     */
+    function pinMode(pin: number, mode: number): void;
+
+    /**
+     * Write digital value to the given pin.
+     * @param pin The pin to write to.
+     * @param value The value to write.
+     */
+    function write(pin: number, value: number): void;
+
+    /**
+     * Read digital value from the given pin.
+     * @param pin The pin to read from.
+     * @returns The value of the pin (0 or 1).
+     */
+    function read(pin: number): number;
+
+    /**
+     * Set event handler for the given pin.
+     * @param event The event to handle.
+     * @param pin The pin to handle the event for.
+     * @param callback The callback to call when the event occurs.
+     */
+    function on(event: "rising" | "falling" | "change", pin: number, callback: (info: EventInfo) => void): void;
+
+    /**
+     * Remove event handler for the given pin.
+     * @param event The event to remove.
+     * @param pin The pin to remove the event handler for.
+     */
+    function off(event: "rising" | "falling" | "change", pin: number): void;
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/gridui.d.ts b/docs/robot/lekce1/example-gridui/@types/gridui.d.ts
new file mode 100644
index 00000000..07e6bbe0
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/gridui.d.ts
@@ -0,0 +1,321 @@
+declare module "gridui" {
+    namespace widget {
+        interface Base {
+            readonly uuid: number
+            widgetX: number
+            widgetY: number
+            widgetW: number
+            widgetH: number
+            widgetTab: number
+            css(key: string): string
+            setCss(key: string, value: string): void
+        }
+
+        interface Arm extends Base {
+            readonly x: number
+            readonly y: number
+        }
+
+        interface Bar extends Base {
+            color: string
+            fontSize: number
+            min: number
+            max: number
+            value: number
+            showValue: boolean
+        }
+
+        interface Button extends Base {
+            text: string
+            fontSize: number
+            color: string
+            background: string
+            align: string
+            valign: string
+            disabled: boolean
+            readonly pressed: boolean
+        }
+
+        interface Camera extends Base {
+            rotation: number
+            clip: boolean
+        }
+
+        interface Checkbox extends Base {
+            fontSize: number
+            checked: boolean
+            color: string
+            text: string
+        }
+
+        interface Circle extends Base {
+            color: string
+            fontSize: number
+            min: number
+            max: number
+            lineWidth: number
+            valueStart: number
+            value: number
+            showValue: boolean
+        }
+
+        interface Input extends Base {
+            text: string
+            color: string
+            type: string
+            disabled: boolean
+        }
+
+        interface Joystick extends Base {
+            color: string
+            keys: string
+            text: string
+            readonly x: number
+            readonly y: number
+        }
+
+        interface Led extends Base {
+            color: string
+            on: boolean
+        }
+
+        interface Orientation extends Base {
+            color: string
+            readonly yaw: number
+            readonly pitch: number
+            readonly roll: number
+            readonly joystickX: number
+            readonly joystickY: number
+        }
+
+        interface Select extends Base {
+            color: string
+            background: string
+            disabled: boolean
+            options: string
+            selectedIndex: number
+        }
+
+        interface Slider extends Base {
+            color: string
+            fontSize: number
+            min: number
+            max: number
+            value: number
+            precision: number
+            showValue: boolean
+        }
+
+        interface SpinEdit extends Base {
+            fontSize: number
+            color: string
+            value: number
+            step: number
+            precision: number
+        }
+
+        interface Switcher extends Base {
+            fontSize: number
+            color: string
+            value: number
+            min: number
+            max: number
+        }
+
+        interface Text extends Base {
+            text: string
+            fontSize: number
+            color: string
+            background: string
+            align: string
+            valign: string
+            prefix: string
+            suffix: string
+        }
+    }
+
+    namespace builder {
+        interface Base {
+            css(key: string, value: string): this
+            finish(): this
+        }
+
+        interface Arm extends Base {
+            info(info: Record<string, any>): Arm
+
+            onGrab(callback: (arm: widget.Arm) => void): Arm
+            onPositionChanged(callback: (arm: widget.Arm) => void): Arm
+        }
+
+        interface Bar extends Base {
+            color(color: string): Bar
+            fontSize(fontSize: number): Bar
+            min(min: number): Bar
+            max(max: number): Bar
+            value(value: number): Bar
+            showValue(showValue: boolean): Bar
+        }
+
+        interface Button extends Base {
+            text(text: string): Button
+            fontSize(fontSize: number): Button
+            color(color: string): Button
+            background(background: string): Button
+            align(align: string): Button
+            valign(valign: string): Button
+            disabled(disabled: boolean): Button
+
+            onPress(callback: (button: widget.Button) => void): Button
+            onRelease(callback: (button: widget.Button) => void): Button
+        }
+
+        interface Camera extends Base {
+            rotation(rotation: number): Camera
+            clip(clip: boolean): Camera
+            tags(tags: any /* TODO: fix type */): Camera
+        }
+
+        interface Checkbox extends Base {
+            fontSize(fontSize: number): Checkbox
+            checked(checked: boolean): Checkbox
+            color(color: string): Checkbox
+            text(text: string): Checkbox
+
+            onChanged(callback: (checkbox: widget.Checkbox) => void): Checkbox
+        }
+
+        interface Circle extends Base {
+            color(color: string): Circle
+            fontSize(fontSize: number): Circle
+            min(min: number): Circle
+            max(max: number): Circle
+            lineWidth(lineWidth: number): Circle
+            valueStart(valueStart: number): Circle
+            value(value: number): Circle
+            showValue(showValue: boolean): Circle
+        }
+
+        interface Input extends Base {
+            text(text: string): Input
+            color(color: string): Input
+            type(type: string): Input
+            disabled(disabled: boolean): Input
+
+            onChanged(callback: (input: widget.Input) => void): Input
+        }
+
+        interface Joystick extends Base {
+            color(color: string): Joystick
+            keys(keys: string): Joystick
+            text(text: string): Joystick
+
+            onClick(callback: (joystick: widget.Joystick) => void): Joystick
+            onPositionChanged(callback: (joystick: widget.Joystick) => void): Joystick
+        }
+
+        interface Led extends Base {
+            color(color: string): Led
+            on(on: boolean): Led
+        }
+
+        interface Orientation extends Base {
+            color(color: string): Orientation
+
+            onPositionChanged(callback: (orientation: widget.Orientation) => void): Orientation
+        }
+
+        interface Select extends Base {
+            color(color: string): Select
+            background(background: string): Select
+            disabled(disabled: boolean): Select
+            options(options: string): Select
+            selectedIndex(selectedIndex: number): Select
+
+            onChanged(callback: (select: widget.Select) => void): Select
+        }
+
+        interface Slider extends Base {
+            color(color: string): Slider
+            fontSize(fontSize: number): Slider
+            min(min: number): Slider
+            max(max: number): Slider
+            value(value: number): Slider
+            precision(precision: number): Slider
+            showValue(showValue: boolean): Slider
+
+            onChanged(callback: (slider: widget.Slider) => void): Slider
+        }
+
+        interface SpinEdit extends Base {
+            fontSize(fontSize: number): SpinEdit
+            color(color: string): SpinEdit
+            value(value: number): SpinEdit
+            step(step: number): SpinEdit
+            precision(precision: number): SpinEdit
+
+            onChanged(callback: (spinEdit: widget.SpinEdit) => void): SpinEdit
+        }
+
+        interface Switcher extends Base {
+            fontSize(fontSize: number): Switcher
+            color(color: string): Switcher
+            value(value: number): Switcher
+            min(min: number): Switcher
+            max(max: number): Switcher
+
+            onChanged(callback: (switcher: widget.Switcher) => void): Switcher
+        }
+
+        interface Text extends Base {
+            text(text: string): Text
+            fontSize(fontSize: number): Text
+            color(color: string): Text
+            background(background: string): Text
+            align(align: string): Text
+            valign(valign: string): Text
+            prefix(prefix: string): Text
+            suffix(suffix: string): Text
+        }
+
+        interface Widget extends Base { }
+    }
+
+    class Builder {
+        arm(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Arm
+        bar(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Bar
+        button(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Button
+        camera(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Camera
+        checkbox(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Checkbox
+        circle(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Circle
+        input(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Input
+        joystick(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Joystick
+        led(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Led
+        orientation(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Orientation
+        select(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Select
+        slider(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Slider
+        spinEdit(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.SpinEdit
+        switcher(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Switcher
+        text(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Text
+        widget(x: number, y: number, w: number, h: number, uuid?: number, tab?: number): builder.Widget
+    }
+
+    /**
+     * Initialize GridUI.
+     * @param ownerName name of the owner, must match the name entered in RBController app.
+     * @param deviceName name of this device, visible in the RBController app.
+     * @param builderCallback callback, which receives the builder instance that can be used to create widgets.
+     */
+    function begin(ownerName: string, deviceName: string, builderCallback: (builder: Builder) => void): void
+
+    /**
+     * Stop GridUI.
+     */
+    function end(): void
+
+    /**
+     * Returns included GridUI version as number, to be compared with hex representation of the version.
+     *
+     * For example, for version 5.1.0, do: `gridui.version() >= 0x050100`
+     */
+    function version(): number
+}
\ No newline at end of file
diff --git a/docs/robot/lekce1/example-gridui/@types/i2c.d.ts b/docs/robot/lekce1/example-gridui/@types/i2c.d.ts
new file mode 100644
index 00000000..fd6685a9
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/i2c.d.ts
@@ -0,0 +1,34 @@
+declare module "i2c" {
+    interface I2C {
+        /**
+         * Find an I2C interface by its pin.
+         * @param pin The pin the I2C interface is connected to.
+         * @returns The I2C interface, or undefined if not found.
+         */
+        find(pin: number): I2C | undefined;
+
+        /**
+         * Read from the given address.
+         * @param address The address to read from.
+         * @param quantity The number of bytes to read.
+         * @returns The bytes read.
+         */
+        readFrom(address: number, quantity: number): Uint8Array;
+
+        /**
+         * Write to the given address.
+         * @param address The address to write to.
+         * @param buffer The data to write.
+         */
+        writeTo(address: number, buffer: ArrayBuffer | Uint8Array | number[] | string | number): void;
+
+        /**
+         * Setup the I2C interface.
+         * @param options The options to use when setting up the I2C interface.
+         */
+        setup(options: { scl?: number, sda?: number, bitrate?: number }): void;
+    }
+
+    const I2C1: I2C;
+    const I2C2: I2C | undefined;
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/keyvalue.d.ts b/docs/robot/lekce1/example-gridui/@types/keyvalue.d.ts
new file mode 100644
index 00000000..761b09fb
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/keyvalue.d.ts
@@ -0,0 +1,61 @@
+declare module "keyvalue" {
+    class KeyValueNamespace {
+        /**
+         * Get saved value.
+         * @param key key, max 15 characters.
+         * @return saved value or null if not present
+         */
+        get(key: string): string | number | null;
+
+        /**
+         * Get string saved value.
+         * @param key key, max 15 characters.
+         * @return saved value or null if not present or if not string
+         */
+        getString(key: string): string | null;
+
+        /**
+         * Get number saved value.
+         * @param key key, max 15 characters.
+         * @return saved value or null if not present or if not number
+         */
+        getNumber(key: string): number | null;
+
+        /**
+         * Set value in KeyValue namespace, overwriting any previous value.
+         * Call commit() after setting everything, otherwise changes will be lost!
+         * @param key key, max 15 characters.
+         * @param value value
+         */
+        set(key: string, value: string | number): void;
+
+        /**
+         * Erase value from KeyValue namespace.
+         * Call commit() after setting everything, otherwise changes will be lost!
+         * @param key key, max 15 characters.
+         */
+        erase(key: string): void;
+
+        /**
+         * Check existance of a key.
+         * @param key key, max 15 characters.
+         * @returns true if exists, false otherwise
+         */
+        exists(key: string): boolean;
+
+        /**
+         * Save modifications to persistent storage.
+         */
+        commit(): void;
+    }
+
+    /**
+     * Open a KeyValue namespace for use. KeyValue is a persitent storage for small
+     * pieces of data that saves values across restarts.
+     *
+     * The namespaces are isolated from each other.
+     *
+     * @param namespace Namespace name, max 15 characters.
+     */
+    function open(namespace: string): KeyValueNamespace;
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/ledc.d.ts b/docs/robot/lekce1/example-gridui/@types/ledc.d.ts
new file mode 100644
index 00000000..49b016e5
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/ledc.d.ts
@@ -0,0 +1,44 @@
+declare module "ledc" {
+    /**
+     * Configure the given timer.
+     * @param timer The timer to configure.
+     * @param frequency The frequency to configure the timer to.
+     * @param resolution The resolution to configure the timer to (default 10 bits, changes frequency range)
+     */
+    function configureTimer(timer: number, frequency: number, resolution?: number): void;
+
+    /**
+     * Configure the given LEDC channel.
+     * @param channel The channel to configure.
+     * @param pin The pin to configure the channel to.
+     * @param timer The timer to configure the channel to.
+     * @param duty The duty to configure the channel to (0-1023).
+     */
+    function configureChannel(channel: number, pin: number, timer: number, duty: number): void;
+
+    /**
+     * Set the frequency of the given timer.
+     * @param timer The timer to set the frequency of.
+     * @param frequency The frequency to set the timer to.
+     */
+    function setFrequency(timer: number, frequency: number): void;
+
+    /**
+     * Set the duty of the given channel.
+     * @param channel The channel to set the duty of.
+     * @param duty The duty to set the channel to (0-1023).
+     */
+    function setDuty(channel: number, duty: number): void;
+
+    /**
+     * Stop the given timer.
+     * @param timer The timer to stop.
+     */
+    function stopTimer(timer: number): void;
+
+    /**
+     * Stop the given channel.
+     * @param channel The channel to stop.
+     */
+    function stopChannel(channel: number): void;
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/misc.d.ts b/docs/robot/lekce1/example-gridui/@types/misc.d.ts
new file mode 100644
index 00000000..05e77a20
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/misc.d.ts
@@ -0,0 +1,5 @@
+/**
+ * Exits the current program.
+ * @param code The exit code to use.
+ */
+declare function exit(code?: number): void;
diff --git a/docs/robot/lekce1/example-gridui/@types/motor.d.ts b/docs/robot/lekce1/example-gridui/@types/motor.d.ts
new file mode 100644
index 00000000..2ec31392
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/motor.d.ts
@@ -0,0 +1,82 @@
+declare module "motor" {
+
+    type MoveDuration = {
+        distance?: number;
+        time?: number;
+    }
+
+    type MotorPins = {
+        motA: number;
+        motB: number;
+        encA: number;
+        encB: number;
+    };
+
+    type LedcConfig = {
+        timer: number;
+        channelA: number;
+        channelB: number;
+    };
+
+    class Motor {
+        /**
+         * Construc a new Motor instance
+         * @param options Motor configuration
+         * @note Units used in the diameter parameter determines the units used in the other methods
+         */
+        constructor(options: { pins: MotorPins, ledc: LedcConfig, encTicks: number, diameter: number });
+
+        /**
+         * Set the speed of the motor
+         * @param speed Speed in units per second
+         * @note The units are the same as used in the diameter parameter
+         */
+        setSpeed(speed: number): void;
+        // setRamp(ramp: number): void;
+
+        /**
+         * Move the motor
+         * @param duration Duration of the movement
+         * @note The units are the same as used in the diameter parameter
+         * @note If the duration is not provided, the motor will move indefinitely
+         */
+        move(duration?: MoveDuration): Promise<void>;
+
+        /**
+         * Stop the motor
+         * @param brake If true, the motor will brake, otherwise it will coast to a stop
+         */
+        stop(brake?: boolean): Promise<void>;
+
+        /**
+         * Get the position of the motor
+         * @note The units are the same as used in the diameter parameter
+         * @returns The position of the motor
+         */
+        getPosition(): number;
+
+        /**
+         * Close the motor
+         */
+        close(): void;
+    }
+
+    /* class Wheels {
+        constructor(options: {
+            left: MotorPins,
+            right: MotorPins,
+            encTicks: number,
+            diameter: number,
+            spacing: number
+        });
+        setSpeed(speed: number): void;
+        // setRamp(ramp: number): void;
+
+        move(curve: number, duration?: MoveDuration): Promise<void>;
+        // rotate(angle: number): Promise<void>;
+        stop(brake?: boolean): Promise<void>;
+        getPosition(): { left: number, right: number };
+
+        close(): void;
+    } */
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/path.d.ts b/docs/robot/lekce1/example-gridui/@types/path.d.ts
new file mode 100644
index 00000000..c4434c60
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/path.d.ts
@@ -0,0 +1,36 @@
+declare module "path" {
+    /**
+     * Normalize the given path.
+     * @param path The path to normalize.
+     * @returns The normalized path.
+     */
+    function normalize(path: string): string;
+
+    /**
+     * Get the parent directory of the given path.
+     * @param path The path to get the parent directory of.
+     * @returns The parent directory.
+     */
+    function dirname(path: string): string;
+
+    /**
+     * Get the last part of the given path.
+     * @param path The path to get the last part of.
+     * @returns The last part of the path.
+     */
+    function basename(path: string): string;
+
+    /**
+     * Join the given paths.
+     * @param paths The paths to join.
+     * @returns The joined path.
+     */
+    function join(...paths: string[]): string;
+
+    /**
+     * Check if the given path is absolute.
+     * @param path The path to check.
+     * @returns True if the path is absolute, false otherwise.
+     */
+    function isAbsolute(path: string): boolean;
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/platform.d.ts b/docs/robot/lekce1/example-gridui/@types/platform.d.ts
new file mode 100644
index 00000000..6fe4c710
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/platform.d.ts
@@ -0,0 +1,6 @@
+declare const PlatformInfo: {
+    /**
+     * The name of the platform the program is running on.
+     */
+    name: string
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/pulseCounter.d.ts b/docs/robot/lekce1/example-gridui/@types/pulseCounter.d.ts
new file mode 100644
index 00000000..76ad8edd
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/pulseCounter.d.ts
@@ -0,0 +1,64 @@
+declare module "pulseCounter" {
+    type LevelAction = number;
+    type EdgeAction = number;
+
+    const LevelAction: {
+        Keep: LevelAction;
+        Inverse: LevelAction;
+        Hold: LevelAction;
+    };
+
+    const EdgeAction: {
+        Hold: EdgeAction;
+        Increase: EdgeAction;
+        Decrease: EdgeAction;
+    };
+
+    type LevelMode = {
+        low: LevelAction,
+        high: LevelAction,
+    }
+
+    type EdgeMode = {
+        pos: EdgeAction,
+        neg: EdgeAction,
+    }
+
+    class PulseCounter {
+        /**
+         * Create a new pulse counter instance.
+         * @param options The options for the pulse counter.
+         */
+        constructor(options: {
+            pinLevel: number,
+            pinEdge: number,
+            levelMode: LevelMode,
+            edgeMode: EdgeMode,
+        })
+
+        /**
+         * Read the current value of the pulse counter.
+         */
+        read(): number;
+
+        /**
+         * Reset the pulse counter to 0.
+         */
+        clear(): void;
+
+        /**
+         * Start the pulse counter.
+         */
+        start(): void;
+
+        /**
+         * Stop the pulse counter.
+         */
+        stop(): void;
+
+        /**
+         * Close the pulse counter.
+         */
+        close(): void;
+    }
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/simpleradio.d.ts b/docs/robot/lekce1/example-gridui/@types/simpleradio.d.ts
new file mode 100644
index 00000000..a1cb8608
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/simpleradio.d.ts
@@ -0,0 +1,84 @@
+declare module "simpleradio" {
+    type PacketDataType = "number" | "string" | "keyvalue";
+
+    interface PacketInfo {
+        group: number;
+        address: string;
+        rssi: number;
+    }
+
+    /**
+     * Initialize the radio.
+     * @param group The radio group to use.
+     */
+    function begin(group: number): void;
+
+    /**
+     * Set the radio group.
+     * @param group The radio group to use, between 0 and 15 inclusive.
+     */
+    function setGroup(group: number): void;
+
+    /**
+     * Get current radio group
+     * @returns ID of the current group
+     */
+    function group(): number;
+
+    /**
+     * Get the local device address.
+     * @returns the local device address. Only works after begin() is called.
+     */
+    function address(): string;
+
+    /**
+     * Send a string.
+     * @param str The string to send.
+     */
+    function sendString(str: string): void;
+
+    /**
+     * Send a number.
+     * @param num The number to send.
+     */
+    function sendNumber(num: number): void;
+
+    /**
+     * Send a key-value pair.
+     * @param key The key to send.
+     * @param value The number to send.
+     */
+    function sendKeyValue(key: string, value: number): void;
+
+    /**
+     * Register a callback for a packet type.
+     * @param type The packet type to register for.
+     * @param callback The callback to register.
+     */
+    function on(type: "number", callback: (num: number, info: PacketInfo) => void): void;
+
+    /**
+     * Register a callback for a packet type.
+     * @param type The packet type to register for.
+     * @param callback The callback to register.
+     */
+    function on(type: "string", callback: (str: string, info: PacketInfo) => void): void;
+
+    /**
+     * Register a callback for a packet type.
+     * @param type The packet type to register for.
+     * @param callback The callback to register.
+     */
+    function on(type: "keyvalue", callback: (key: string, value: number, info: PacketInfo) => void): void;
+
+    /**
+     * Unregister a callback for a packet type.
+     * @param type The packet type to unregister for.
+     */
+    function off(type: PacketDataType): void;
+
+    /**
+     * Stop the radio.
+     */
+    function end(): void;
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/smartled.d.ts b/docs/robot/lekce1/example-gridui/@types/smartled.d.ts
new file mode 100644
index 00000000..a9c51e80
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/smartled.d.ts
@@ -0,0 +1,55 @@
+declare module "smartled" {
+    interface Rgb {
+        r: number;
+        g: number;
+        b: number;
+    }
+
+    interface LedType {
+        T0H: number;
+        T1H: number;
+        T0L: number;
+        T1L: number;
+        TRS: number;
+    }
+
+    class SmartLed {
+        /**
+         * Create a new Smart LED strip.
+         * @param pin The pin the strip is connected to.
+         * @param count The number of LEDs in the strip.
+         * @param type The type of LED strip.
+         */
+        constructor(pin: number, count: number, type?: LedType);
+
+        /**
+         * Show the current buffer on the strip.
+         */
+        public show(): void;
+
+        /**
+         * Set the color of the given LED.
+         * @param index The index of the LED to set.
+         * @param rgb The color to set the LED to.
+         */
+        public set(index: number, rgb: Rgb): void;
+
+        /**
+         * Get the color of the given LED.
+         * @param index The index of the LED to get.
+         * @returns The color of the LED.
+         */
+        public get(index: number): Rgb;
+
+        /**
+         * Clear the buffer.
+         */
+        public clear(): void;
+    }
+
+    const LED_WS2812: LedType;
+    const LED_WS2812B: LedType;
+    const LED_WS2812B_2020: LedType;
+    const LED_SK6812: LedType;
+    const LED_WS2813: LedType;
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/stdio.d.ts b/docs/robot/lekce1/example-gridui/@types/stdio.d.ts
new file mode 100644
index 00000000..f0c1881d
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/stdio.d.ts
@@ -0,0 +1,13 @@
+declare module "stdio" {
+    let stdout: Writable;
+    let stderr: Writable;
+    let stdin: Readable;
+}
+
+declare const console: {
+    debug(arg: any): void;
+    log(arg: any): void;
+    warn(arg: any): void;
+    info(arg: any): void;
+    error(arg: any): void;
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/timers.d.ts b/docs/robot/lekce1/example-gridui/@types/timers.d.ts
new file mode 100644
index 00000000..4f73380a
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/timers.d.ts
@@ -0,0 +1,31 @@
+/**
+ * Returns a promise that resolves after the specified time.
+ * @param ms The number of milliseconds to wait before resolving the promise.
+ */
+declare function sleep(ms: number): Promise<void>;
+
+/**
+ * Calls a function after the specified time.
+ * @param callback The function to call.
+ * @param ms The number of milliseconds to wait before calling the function.
+ */
+declare function setTimeout(callback: () => void, ms: number): number;
+
+/**
+ * Calls a function repeatedly, with a fixed time delay between each call.
+ * @param callback The function to call.
+ * @param ms The number of milliseconds to wait before calling the function.
+ */
+declare function setInterval(callback: () => void, ms: number): number;
+
+/**
+ * Cancels a timeout previously established by calling setTimeout().
+ * @param id The identifier of the timeout to cancel.
+ */
+declare function clearTimeout(id: number): void;
+
+/**
+ * Cancels a timeout previously established by calling setInterval().
+ * @param id The identifier of the interval to cancel.
+ */
+declare function clearInterval(id: number): void;
diff --git a/docs/robot/lekce1/example-gridui/@types/timestamp.d.ts b/docs/robot/lekce1/example-gridui/@types/timestamp.d.ts
new file mode 100644
index 00000000..bd9ab6c8
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/timestamp.d.ts
@@ -0,0 +1,11 @@
+declare interface Timestamp {
+    /**
+     * Convert the timestamp to milliseconds.
+     */
+    millis(): number;
+
+    /**
+     * Get the lower 10^3 part of the timestamp in microseconds.
+     */
+    micros(): number;
+}
diff --git a/docs/robot/lekce1/example-gridui/@types/wifi.d.ts b/docs/robot/lekce1/example-gridui/@types/wifi.d.ts
new file mode 100644
index 00000000..7e532194
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/@types/wifi.d.ts
@@ -0,0 +1,6 @@
+declare module "wifi" {
+    /**
+    * Return current IPv4 of the device, or null if WiFi is disabled or not connected.
+    */
+    function currentIp(): string | null;
+}
diff --git a/docs/robot/lekce1/example-gridui/src/index.ts b/docs/robot/lekce1/example-gridui/src/index.ts
new file mode 100644
index 00000000..e1eddd1d
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/src/index.ts
@@ -0,0 +1,76 @@
+import * as Robutek from "./libs/robutek.js"
+import * as wifi from "wifi";
+import Layout from "./layout.js"
+
+Robutek.init() // Zprovozní Robůtka
+
+function scale(value) {
+  // Scale the joystick value from -32768..32767 to -1..1
+  return value / 32768;
+}
+
+function limitSpeed(value, factor) {
+  // Apply a limiting factor to the value
+  return value * factor;
+}
+
+function setMotorsJoystick(x: number, y: number, coef = 2.5) {
+  // Scale the joystick values
+  x = scale(x);
+  y = scale(y);
+
+  // Calculate motor powers
+  let r = (y - (x / coef));
+  let l = (y + (x / coef));
+
+  // Apply speed limiter
+  r = limitSpeed(r, speedLimiter);
+  l = limitSpeed(l, speedLimiter);
+
+  // Ensure the values are within the range -1 to 1
+  r = Math.max(-1, Math.min(1, r));
+  l = Math.max(-1, Math.min(1, l));
+
+  // Swap r and l if both are negative
+  if (r < 0 && l < 0) {
+    [r, l] = [l, r];
+  }
+
+  console.log(`x: ${x}, y: ${y}`);
+  console.log(`left motor power: ${l}, right motor power: ${r}`);
+
+  // Set motor power
+  Robutek.LeftMot.setSpeed(l);
+  Robutek.LeftMot.move();
+  Robutek.RightMot.setSpeed(r);
+  Robutek.RightMot.move();
+}
+
+
+let speedLimiter = 0.5;
+
+Layout.begin("Owner name", "Device Name", builder => {
+
+  builder.ButtonBlink.onPress(async () => {
+    Robutek.ledStrip.clear();
+    Robutek.ledStrip.set(0, { r: 255, g: 0, b: 0 });
+    Robutek.ledStrip.show();
+    await sleep(500);
+    Robutek.ledStrip.clear();
+    Robutek.ledStrip.set(0, { r: 0, g: 255, b: 0 });
+    Robutek.ledStrip.show();
+    await sleep(500);
+  });
+
+  builder.SetSpeed.onChanged(slider => {
+    speedLimiter = slider.value;
+    console.log(`speed limiter: ${speedLimiter}`);
+  });
+
+  builder.Joystick.onPositionChanged(joystick => {
+    setMotorsJoystick(joystick.x, joystick.y);
+  });
+
+})
+
+console.log("Otevři aplikaci RBController nebo otevři prohlížeč a zadej IP: " + wifi.currentIp() + " pro ovládání robota.");
\ No newline at end of file
diff --git a/docs/robot/lekce1/example-gridui/src/layout.ts b/docs/robot/lekce1/example-gridui/src/layout.ts
new file mode 100644
index 00000000..b87c4cd4
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/src/layout.ts
@@ -0,0 +1,88 @@
+// AUTOGENERATED FILE, DO NOT EDIT
+// Generated by https://gridui.robotikabrno.cz/
+// Layout: {"cols":12,"rows":18,"enableSplitting":true,"widgets":[{"uuid":43594,"type":"Button","state":{"id":"ButtonBlink","x":1,"y":1.5,"w":10,"h":2,"tab":0,"css":{},"text":"Blikni","fontSize":18,"color":"#fb0404","background":"","align":"center","valign":"center","disabled":false}},{"uuid":11866,"type":"Joystick","state":{"id":"Joystick","x":3,"y":10,"w":6,"h":5.5,"tab":0,"css":{},"color":"#FF0000","keys":"","text":""}},{"uuid":4862,"type":"Slider","state":{"id":"SetSpeed","x":1,"y":4,"w":10,"h":2.5,"tab":0,"css":{},"color":"#008000","fontSize":16,"min":0,"max":1,"value":0.5,"precision":0.05,"showValue":true}},{"uuid":47586,"type":"Text","state":{"id":"TextSpeed","x":1,"y":6.5,"w":10,"h":1,"tab":0,"css":{},"text":"Nastavení maximální rychlosti","fontSize":17,"color":"#000000","background":"","align":"center","valign":"center","prefix":"","suffix":""}},{"uuid":26977,"type":"Text","state":{"id":"TextInfo","x":1,"y":0,"w":10,"h":1,"tab":0,"css":{},"text":"Řízení Robůtka","fontSize":19,"color":"#000000","background":"","align":"center","valign":"center","prefix":"","suffix":""}}]}
+
+// Add this as a file layout.ts to your project.
+//
+// Inicialization:
+//
+//   import Layout from "./layout.js"
+//
+//   Layout.begin("Owner name", "Device Name", builder => {
+//
+//     // Add calback handlers here, like this:
+//     builder.Button1.onPress(btn => {
+//         console.log("press")
+//     })
+//
+//   })
+//
+// Usage later in code:
+//
+//   Layout.Button1.color = "red";
+//   console.log(Layout.Button1.pressed)
+//
+
+import * as gridui from "gridui"
+
+if (gridui.version() < 0x040000) {
+    throw new Error("Your RBGridUi library version is too low for this layout, please update to 040000.")
+}
+
+interface LayoutBuilder {
+    readonly ButtonBlink: gridui.builder.Button
+    readonly Joystick: gridui.builder.Joystick
+    readonly SetSpeed: gridui.builder.Slider
+    readonly TextSpeed: gridui.builder.Text
+    readonly TextInfo: gridui.builder.Text
+}
+
+interface Layout {
+    readonly ButtonBlink: gridui.widget.Button
+    readonly Joystick: gridui.widget.Joystick
+    readonly SetSpeed: gridui.widget.Slider
+    readonly TextSpeed: gridui.widget.Text
+    readonly TextInfo: gridui.widget.Text
+
+    begin(ownerName: string, deviceName: string, builderCallback?: (layoutBuilder: LayoutBuilder) => void): void
+
+    changeTab(index: number): void
+    log(message: string): void
+}
+
+const layout = {
+    begin(ownerName: string, deviceName: string, builderCallback?: (layoutBuilder: LayoutBuilder) => void) {
+        gridui.begin(ownerName, deviceName, (builder) => {
+            const layoutBuilder: LayoutBuilder = {
+                ButtonBlink: builder.button(1, 1.5, 10, 2, 43594)
+                    .text("Blikni")
+                    .fontSize(18)
+                    .color("#fb0404"),
+                Joystick: builder.joystick(3, 10, 6, 5.5, 11866),
+                SetSpeed: builder.slider(1, 4, 10, 2.5, 4862)
+                    .max(1)
+                    .value(0.5)
+                    .precision(0.05),
+                TextSpeed: builder.text(1, 6.5, 10, 1, 47586)
+                    .text("Nastavení maximální rychlosti")
+                    .fontSize(17),
+                TextInfo: builder.text(1, 0, 10, 1, 26977)
+                    .text("Řízení Robůtka")
+                    .fontSize(19)
+            }
+
+            if (builderCallback !== undefined) {
+                builderCallback(layoutBuilder)
+            }
+
+            for (const key in layoutBuilder) {
+                layout[key] = layoutBuilder[key].finish()
+                layoutBuilder[key] = undefined
+            }
+        })
+    },
+    changeTab: gridui.changeTab,
+    log: gridui.log,
+} as Layout
+
+export default layout
\ No newline at end of file
diff --git a/docs/robot/lekce1/example-gridui/src/libs/colors.ts b/docs/robot/lekce1/example-gridui/src/libs/colors.ts
new file mode 100644
index 00000000..de76a121
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/src/libs/colors.ts
@@ -0,0 +1,81 @@
+/**
+ * Barva je jednoduchá trojice červené, zelené, a modré složky
+ * - R: červená (rozsah 0-255)
+ * - G: zelená (rozsah 0-255)
+ * - B: modrá (rozsah 0-255)
+ */
+interface Rgb {
+    r: number;
+    g: number;
+    b: number;
+}
+
+
+/**
+ * Alternativní způsob, jak vyjádřit barvu, je HSL:
+ * - Hue: odstín (rozsah 0-360)
+ * - Saturation: sytost barev (rozsah 0-1)
+ * - Lightness: světlost (rozsah 0-1)
+ */
+interface Hsl {
+    h: number;
+    s: number;
+    l: number;
+}
+
+/**
+ * Mezi jednotlivými reprezentacemi lze převádět
+ * @param hsl {Number} Hue (0-360), Saturation (0-1), Lightness (0-1)
+ * @returns {Rgb} Red (0-255), Green (0-255), Blue (0-255)
+ */
+export function hsl_to_rbg( hsl: Hsl ) : Rgb {
+    const chroma = ( 1 - Math.abs( 2 * hsl.l - 1 ) * hsl.s );
+    const hue = hsl.h / 60;
+    const x = chroma * ( 1 - Math.abs( ( hue % 2 ) - 1 ) );
+
+    let color : Rgb = { r: 0, g: 0, b: 0 };
+    if( hue > 0 && hue < 1 ){
+        color = { r: chroma, g: x, b: 0 };
+    } else if( hue >= 1 && hue < 2 ){
+        color = { r: x, g: chroma, b: 0 };
+    } else if( hue >= 2 && hue < 3 ){
+        color = { r: 0, g: chroma, b: x };
+    } else if( hue >= 3 && hue < 4 ){
+        color = { r: 0, g: x, b: chroma };
+    } else if( hue >= 4 && hue < 5 ){
+        color = { r: x, g: 0, b: chroma };
+    } else {
+        color = { r: chroma, g: 0, b: x };
+    }
+    const correction = hsl.l - chroma / 2;
+    color.r = ( color.r + correction ) * 255;
+    color.g = ( color.g + correction ) * 255;
+    color.b = ( color.b + correction ) * 255;
+
+    return color;
+}
+
+/**
+ * Funkce rainbow zafixuje sytost a světlost, a prochází barvami
+ * @param hue (0-360)
+ * @param brightness (0-100) - 50 je defaultní hodnota
+ * @returns {Rgb}
+ */
+export function rainbow( hue: number, brightness: number = 50) : Rgb {
+    hue = Math.min( hue, 360 ); // Zajistíme, že zadaná hodnota není mimo rozsah
+    // fix range to 0-100
+    let brightness_mapped = Math.min(Math.max(brightness, 0), 100);
+    return hsl_to_rbg( { h: hue, s: 1, l: brightness_mapped / 100 } );
+}
+
+/* Základní barvy pro LED pásky*/
+export const red = rainbow( 0 );
+export const orange = rainbow( 27 );
+export const yellow = rainbow( 54 );
+export const green = rainbow( 110 );
+export const light_blue = rainbow( 177 );
+export const blue = rainbow( 240 );
+export const purple = rainbow( 285 );
+export const pink = rainbow( 323 );
+export const white : Rgb = { r: 100, g: 100, b: 100 };
+export const off : Rgb = { r: 0, g: 0, b: 0 };
\ No newline at end of file
diff --git a/docs/robot/lekce1/example-gridui/src/libs/readline.ts b/docs/robot/lekce1/example-gridui/src/libs/readline.ts
new file mode 100644
index 00000000..4372efd2
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/src/libs/readline.ts
@@ -0,0 +1,84 @@
+import { stdout, stdin } from "stdio";
+
+/**
+ * A class for reading standard input line by line.
+ */
+
+export class readline {
+    private buffer: string = "";
+    private promise: Promise<string> | null = null;
+    private resolve: ((value: string) => void) | null = null;
+    private reject: ((reason: any) => void) | null = null;
+    private closed: boolean = false;
+    private echo: boolean;
+
+    private onGet(str: string) {
+        if (this.echo) {
+            stdout.write(str);
+        }
+
+        if (str == "\n") {
+            if (this.resolve) {
+                this.resolve(this.buffer);
+            }
+
+            this.buffer = "";
+            this.promise = null;
+            this.resolve = null;
+            this.reject = null;
+
+            return;
+        }
+
+        this.buffer += str;
+
+        if (!this.closed) {
+            stdin.get()
+            .then((data) => this.onGet(data))
+            .catch((reason) => {
+                if (this.reject) {
+                    this.reject(reason);
+                }
+            });
+        }
+
+    }
+
+    constructor(echo: boolean = false) {
+        this.echo = echo;
+    }
+
+    public read(): Promise<string> {
+        if (this.promise != null) {
+            return Promise.reject("Already reading");
+        }
+
+        this.promise = new Promise((resolve, reject) => {
+            this.resolve = resolve;
+            this.reject = reject;
+        });
+
+        stdin.get()
+        .then((data) => this.onGet(data))
+        .catch((reason) => {
+            if (this.reject) {
+                this.reject(reason);
+            }
+        });
+
+        return this.promise;
+    }
+
+    public close() {
+        this.closed = true;
+
+        if (this.reject) {
+            this.reject("Stopped");
+        }
+
+        this.buffer = "";
+        this.promise = null;
+        this.resolve = null;
+        this.reject = null;
+    }
+}
diff --git a/docs/robot/lekce1/example-gridui/src/libs/robutek.ts b/docs/robot/lekce1/example-gridui/src/libs/robutek.ts
new file mode 100644
index 00000000..a6a934b1
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/src/libs/robutek.ts
@@ -0,0 +1,139 @@
+
+import * as adc from "adc";
+import * as gpio from "gpio";
+
+import { Servo } from "./servo.js";
+
+import { SmartLed, LED_WS2812 } from "smartled";
+
+import * as motors from "motor"
+
+const leftMotorPins: motors.MotorPins = { motA: 11, motB: 12, encA: 39, encB: 40 }
+const rightMotorPins: motors.MotorPins = { motA: 45, motB: 13, encA: 41, encB: 42 }
+
+const leftMotorLedc: motors.LedcConfig = { timer: 1, channelA: 0, channelB: 1 }
+const rightMotorLedc: motors.LedcConfig = { timer: 1, channelA: 2, channelB: 3 }
+
+export const LeftMot = new motors.Motor({ pins: leftMotorPins, ledc: leftMotorLedc, encTicks: 400, diameter: 10 });
+export const RightMot = new motors.Motor({ pins: rightMotorPins, ledc: rightMotorLedc, encTicks: 400, diameter: 10 });
+
+
+export function init() {
+    adc.configure(LineSensors.S_1, adc.Attenuation.Db0);
+    adc.configure(LineSensors.S_2, adc.Attenuation.Db0);
+    adc.configure(LineSensors.S_3, adc.Attenuation.Db0);
+    adc.configure(LineSensors.S_4, adc.Attenuation.Db0);
+
+    gpio.pinMode(LineSensors.S_PWR, gpio.PinMode.OUTPUT);
+    gpio.pinMode(LineSensors.S_SW, gpio.PinMode.OUTPUT);
+
+    gpio.write(LineSensors.S_PWR, 1);
+}
+
+
+
+type MoveDuration = {
+    distance?: number; // distance in cm
+    speed?: number; // speed in mm/s?
+}
+
+
+export type SensorType = 'W_FR' | 'W_FL' | 'W_BL' | 'W_BR' | 'L_FR' | 'L_FL' | 'L_BL' | 'L_BR';
+export class LineSensors {
+
+    public static readonly S_1: number = 4;
+    public static readonly S_2: number = 5;
+    public static readonly S_3: number = 6;
+    public static readonly S_4: number = 7;
+    public static readonly S_SW: number = 8;
+    public static readonly S_PWR: number = 47;
+
+    private sw: number = 0;
+
+
+    private async switch_sensors(to_value: number) {
+        if (to_value == this.sw) {
+            return;
+        }
+        this.sw = to_value;
+        gpio.write(LineSensors.S_SW, to_value);
+        await sleep(5);
+    }
+
+    public async read(sensor: SensorType): Promise<number> {
+        switch (sensor) {
+            case 'W_FR':
+                this.switch_sensors(0);
+                return adc.read(LineSensors.S_1);
+
+            case 'W_FL':
+                this.switch_sensors(0);
+                return adc.read(LineSensors.S_2);
+
+            case 'W_BL':
+                this.switch_sensors(0);
+                return adc.read(LineSensors.S_3);
+
+            case 'W_BR':
+                this.switch_sensors(0);
+                return adc.read(LineSensors.S_4);
+
+
+            case 'L_FR':
+                this.switch_sensors(1);
+                return adc.read(LineSensors.S_1);
+
+            case 'L_FL':
+                this.switch_sensors(1);
+                return adc.read(LineSensors.S_2);
+
+            case 'L_BL':
+                this.switch_sensors(1);
+                return adc.read(LineSensors.S_3);
+
+            case 'L_BR':
+                this.switch_sensors(1);
+                return adc.read(LineSensors.S_4);
+
+            default:
+                return 0;
+
+        }
+    }
+}
+
+export class Pen {
+    private servo: Servo;
+
+    public static readonly UP = 512 + 180;
+    public static readonly DOWN = 512 - 180;
+    public static readonly MIDDLE = 512;
+    public static readonly UNLOAD = 0;
+
+    constructor(pin: number) {
+        this.servo = new Servo(pin, 1, 0);
+    }
+
+    /**
+     * Set the pen servo position.
+     * @param value The position to set the servo to, from 0 to 1023.
+     */
+    public move(value: number) {
+        this.servo.write(value);
+    }
+}
+
+export const ledStrip = new SmartLed(48, 9, LED_WS2812);
+
+export class Pins {
+    public static readonly Status_LED: number = 46;
+
+    public static readonly Motor1_A = 11;
+    public static readonly Motor1_B = 12;
+    public static readonly Motor2_A = 45;
+    public static readonly Motor2_B = 13;
+    public static readonly ENC1_1 = 39;
+    public static readonly ENC1_2 = 40;
+    public static readonly ENC2_1 = 41;
+    public static readonly ENC2_2 = 42;
+}
\ No newline at end of file
diff --git a/docs/robot/lekce1/example-gridui/src/libs/servo.ts b/docs/robot/lekce1/example-gridui/src/libs/servo.ts
new file mode 100644
index 00000000..ac4fe3ee
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/src/libs/servo.ts
@@ -0,0 +1,34 @@
+import * as ledc from "ledc";
+
+/**
+ * A class for controlling a servo motor.
+ */
+export class Servo {
+	private channel: number; // the PWM channel to use
+
+	/**
+	 * Create a new servo object.
+	 * @param pin The pin the servo is connected to.
+	 * @param timer The timer to use for PWM.
+	 * @param channel The channel to use for PWM.
+	 */
+	constructor(pin: number, timer: number, channel: number) {
+		this.channel = channel;
+		ledc.configureTimer(timer, 50, 12); // 50Hz is the frequency of a servo, 12 is the resolution of the timer
+		ledc.configureChannel(channel, pin, timer, 1023); // 1023 is the resolution of a servo
+	}
+
+	/**
+	 * Set the servo position.
+	 * @param value The position to set the servo to, from 0-1023.
+	 */
+	write(value: number) {
+		// map the value from 0-1023 to 0.5-2.5ms
+		const ms = ((value / 1023) * 2) + 0.5; // 0.5-2.5ms is the range of a servo
+
+		// convert to a duty cycle
+		const duty = (ms / 20) * 1023;  // 20ms is the period of a servo
+
+		ledc.setDuty(this.channel, duty); // set the duty cycle to the servo
+	}
+}
diff --git a/docs/robot/lekce1/example-gridui/src/libs/simplemotors.ts b/docs/robot/lekce1/example-gridui/src/libs/simplemotors.ts
new file mode 100644
index 00000000..c6f424cd
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/src/libs/simplemotors.ts
@@ -0,0 +1,47 @@
+import * as ledc from "ledc";
+
+/**
+ * A class for controlling a servo motor.
+ */
+export class Motor {
+    private channel1: number; // the PWM channel to use
+    private channel2: number; // the PWM channel to use
+
+    /**
+     * Create a new servo object.
+     * @param pin1 The pin the servo is connected to.
+     * @param pin2 The pin the servo is connected to.
+     * @param timer The timer to use for PWM.
+     * @param channel1 The channel to use for PWM.
+     * @param channel2 The channel to use for PWM.
+     */
+
+    constructor(pin1: number, pin2: number, timer: number, channel1: number, channel2: number) {
+        this.channel1 = channel1;
+        this.channel2 = channel2;
+        ledc.configureTimer(timer, 50, 12); // 50Hz is the frequency of a servo, 12 is the resolution of the timer
+        ledc.configureChannel(channel1, pin1, timer, 1023); // 1023 is the resolution of a servo
+        ledc.configureChannel(channel2, pin2, timer, 1023); // 1023 is the resolution of a servo
+    }
+
+    /**
+     * Set the servo position.
+     * @param value The position to set the servo to, from -1 to 1.
+     */
+    write(value: number) {
+        console.log(value)
+
+        if (value > 0) {
+            ledc.setDuty(this.channel1, 1);
+            ledc.setDuty(this.channel2, (Math.abs(value) * 1023));
+        }
+        else if (value < 0) {
+            ledc.setDuty(this.channel1, (Math.abs(value) * 1023));
+            ledc.setDuty(this.channel2, 1);
+        }
+        else {
+            ledc.setDuty(this.channel1, 1);
+            ledc.setDuty(this.channel2, 1);
+        }
+    }
+}
diff --git a/docs/robot/lekce1/example-gridui/tsconfig.json b/docs/robot/lekce1/example-gridui/tsconfig.json
new file mode 100644
index 00000000..8cf82b10
--- /dev/null
+++ b/docs/robot/lekce1/example-gridui/tsconfig.json
@@ -0,0 +1,11 @@
+{
+    "compilerOptions": {
+        "target": "es2020",
+        "module": "es2020",
+        "lib": ["es2020"],
+        "moduleResolution": "node",
+        "sourceMap": false,
+        "outDir": "build",
+        "rootDir": "src",
+    }
+}