From 9969dd00247f3024276a8d592e2a0962947b1c9b Mon Sep 17 00:00:00 2001
From: c2coder <jansky.stepan08@gmail.com>
Date: Sun, 7 Jul 2024 22:23:48 +0200
Subject: [PATCH 01/14] Add library to docs with index file

---
 .../Robutek-library/@types/adc.d.ts           |  24 ++
 .../Robutek-library/@types/basicStream.d.ts   |  22 ++
 .../Robutek-library/@types/fs.d.ts            |  80 +++++
 .../Robutek-library/@types/gpio.d.ts          |  49 +++
 .../Robutek-library/@types/gridui.d.ts        | 321 ++++++++++++++++++
 .../Robutek-library/@types/i2c.d.ts           |  34 ++
 .../Robutek-library/@types/ledc.d.ts          |  44 +++
 .../Robutek-library/@types/misc.d.ts          |   5 +
 .../Robutek-library/@types/path.d.ts          |  36 ++
 .../Robutek-library/@types/platform.d.ts      |   6 +
 .../Robutek-library/@types/pulseCounter.d.ts  |  64 ++++
 .../Robutek-library/@types/simpleradio.d.ts   |  84 +++++
 .../Robutek-library/@types/smartled.d.ts      |  55 +++
 .../Robutek-library/@types/stdio.d.ts         |  13 +
 .../Robutek-library/@types/timers.d.ts        |  31 ++
 .../Robutek-library/@types/timestamp.d.ts     |  11 +
 .../Robutek-library/@types/wifi.d.ts          |   6 +
 .../Robutek-library/build/index.js            | 182 ++++++++++
 .../Robutek-library/build/libs/colors.js      |  57 ++++
 .../build/libs/custom_motors.js               |  40 +++
 .../Robutek-library/build/libs/motors.js      |   0
 .../Robutek-library/build/libs/readline.js    |  66 ++++
 .../Robutek-library/build/libs/robot.js       | 114 +++++++
 .../Robutek-library/build/libs/servo.js       |  28 ++
 .../Robutek-library/src/index.ts              |  42 +++
 .../Robutek-library/src/libs/colors.ts        |  81 +++++
 .../Robutek-library/src/libs/motors.ts        |  42 +++
 .../Robutek-library/src/libs/readline.ts      |  84 +++++
 .../Robutek-library/src/libs/robot.ts         | 219 ++++++++++++
 .../Robutek-library/src/libs/servo.ts         |  34 ++
 .../Robutek-library/src/libs/simplemotors.ts  |  47 +++
 .../Robutek-library/tsconfig.json             |  11 +
 docs/robutekLibrary/index.md                  |   3 +
 mkdocs.yml                                    |   1 +
 34 files changed, 1936 insertions(+)
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/adc.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/basicStream.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/fs.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/gpio.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/gridui.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/i2c.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/ledc.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/misc.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/path.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/platform.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/pulseCounter.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/simpleradio.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/smartled.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/stdio.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/timers.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/timestamp.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/wifi.d.ts
 create mode 100755 docs/robutekLibrary/Robutek-library/build/index.js
 create mode 100644 docs/robutekLibrary/Robutek-library/build/libs/colors.js
 create mode 100644 docs/robutekLibrary/Robutek-library/build/libs/custom_motors.js
 create mode 100644 docs/robutekLibrary/Robutek-library/build/libs/motors.js
 create mode 100644 docs/robutekLibrary/Robutek-library/build/libs/readline.js
 create mode 100644 docs/robutekLibrary/Robutek-library/build/libs/robot.js
 create mode 100644 docs/robutekLibrary/Robutek-library/build/libs/servo.js
 create mode 100644 docs/robutekLibrary/Robutek-library/src/index.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/src/libs/colors.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/src/libs/motors.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/src/libs/readline.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/src/libs/robot.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/src/libs/servo.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/src/libs/simplemotors.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/tsconfig.json
 create mode 100644 docs/robutekLibrary/index.md

diff --git a/docs/robutekLibrary/Robutek-library/@types/adc.d.ts b/docs/robutekLibrary/Robutek-library/@types/adc.d.ts
new file mode 100644
index 00000000..871de201
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/basicStream.d.ts b/docs/robutekLibrary/Robutek-library/@types/basicStream.d.ts
new file mode 100644
index 00000000..70c9e06f
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/fs.d.ts b/docs/robutekLibrary/Robutek-library/@types/fs.d.ts
new file mode 100644
index 00000000..a21dc650
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/gpio.d.ts b/docs/robutekLibrary/Robutek-library/@types/gpio.d.ts
new file mode 100644
index 00000000..09c167db
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/gridui.d.ts b/docs/robutekLibrary/Robutek-library/@types/gridui.d.ts
new file mode 100644
index 00000000..8ffaba74
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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
+}
diff --git a/docs/robutekLibrary/Robutek-library/@types/i2c.d.ts b/docs/robutekLibrary/Robutek-library/@types/i2c.d.ts
new file mode 100644
index 00000000..fd6685a9
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/ledc.d.ts b/docs/robutekLibrary/Robutek-library/@types/ledc.d.ts
new file mode 100644
index 00000000..49b016e5
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/misc.d.ts b/docs/robutekLibrary/Robutek-library/@types/misc.d.ts
new file mode 100644
index 00000000..05e77a20
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/path.d.ts b/docs/robutekLibrary/Robutek-library/@types/path.d.ts
new file mode 100644
index 00000000..c4434c60
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/platform.d.ts b/docs/robutekLibrary/Robutek-library/@types/platform.d.ts
new file mode 100644
index 00000000..6fe4c710
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/pulseCounter.d.ts b/docs/robutekLibrary/Robutek-library/@types/pulseCounter.d.ts
new file mode 100644
index 00000000..76ad8edd
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/simpleradio.d.ts b/docs/robutekLibrary/Robutek-library/@types/simpleradio.d.ts
new file mode 100644
index 00000000..a1cb8608
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/smartled.d.ts b/docs/robutekLibrary/Robutek-library/@types/smartled.d.ts
new file mode 100644
index 00000000..a9c51e80
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/stdio.d.ts b/docs/robutekLibrary/Robutek-library/@types/stdio.d.ts
new file mode 100644
index 00000000..f0c1881d
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/timers.d.ts b/docs/robutekLibrary/Robutek-library/@types/timers.d.ts
new file mode 100644
index 00000000..4f73380a
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/timestamp.d.ts b/docs/robutekLibrary/Robutek-library/@types/timestamp.d.ts
new file mode 100644
index 00000000..bd9ab6c8
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/wifi.d.ts b/docs/robutekLibrary/Robutek-library/@types/wifi.d.ts
new file mode 100644
index 00000000..7e532194
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/build/index.js b/docs/robutekLibrary/Robutek-library/build/index.js
new file mode 100755
index 00000000..22b2a48b
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/build/index.js
@@ -0,0 +1,182 @@
+import { stdin } from "stdio";
+import * as Robot from "./libs/robot.js";
+import * as gpio from "gpio";
+import * as colors from "./libs/colors.js";
+import * as motors from "./libs/custom_motors.js";
+Robot.init();
+const pen = new Robot.Pen(38);
+const sensors = new Robot.Sensors();
+const strip = new Robot.Strip();
+const LMOT = new motors.Motor(11, 12, 1, 2, 3);
+const RMOT = new motors.Motor(45, 13, 1, 4, 5);
+function mapRange(fromMin, fromMax, toMin, toMax, number) {
+    return ((number - fromMin) * (toMax - toMin)) / (fromMax - fromMin) + toMin;
+}
+function clamp(value, min, max) {
+    return Math.min(Math.max(value, min), max);
+}
+gpio.pinMode(0, gpio.PinMode.INPUT_PULLUP); // nastavíme pin na input pullup
+gpio.pinMode(2, gpio.PinMode.INPUT_PULLUP); // nastavíme pin na input pullup
+gpio.on("falling", 0, () => {
+    pen.move(Robot.Pen.DOWN);
+});
+gpio.on("falling", 2, () => {
+    pen.move(Robot.Pen.UP);
+});
+async function readSensors() {
+    const max_val = 300;
+    const max_rgb = 5;
+    let sens_1 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_FR')), 0, max_rgb);
+    strip.set(1, { r: sens_1, g: sens_1, b: sens_1 });
+    let sens_2 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_FL')), 0, max_rgb);
+    strip.set(2, { r: sens_2, g: sens_2, b: sens_2 });
+    let sens_3 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_BL')), 0, max_rgb);
+    strip.set(3, { r: sens_3, g: sens_3, b: sens_3 });
+    let sens_4 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_BR')), 0, max_rgb);
+    strip.set(4, { r: sens_4, g: sens_4, b: sens_4 });
+    let sens_5 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_FR')), 0, max_rgb);
+    strip.set(5, { r: sens_5, g: sens_5, b: sens_5 });
+    let sens_6 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_FL')), 0, max_rgb);
+    strip.set(6, { r: sens_6, g: sens_6, b: sens_6 });
+    let sens_7 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_BL')), 0, max_rgb);
+    strip.set(7, { r: sens_7, g: sens_7, b: sens_7 });
+    let sens_8 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_BR')), 0, max_rgb);
+    strip.set(8, { r: sens_8, g: sens_8, b: sens_8 });
+}
+setInterval(() => {
+    readSensors();
+}, 500);
+let hue = 0;
+async function rgb() {
+    //for (let i = 0; i < 9; i++) {
+    //    let h = hue
+    //    strip.set(i, colors.rainbow((hue + (12 * i)) % 360, 5));
+    //}
+    strip.set(0, colors.rainbow(hue % 360, 5));
+    hue += 1;
+    strip.show();
+}
+setInterval(() => {
+    rgb();
+}, 20);
+let closeCon = false;
+let speed = 0.5;
+function onGet(data) {
+    switch (data) {
+        case "1":
+            speed = 0.1;
+            break;
+        case "2":
+            speed = 0.2;
+            break;
+        case "3":
+            speed = 0.3;
+            break;
+        case "4":
+            speed = 0.4;
+            break;
+        case "5":
+            speed = 0.5;
+            break;
+        case "6":
+            speed = 0.6;
+            break;
+        case "7":
+            speed = 0.7;
+            break;
+        case "8":
+            speed = 0.8;
+            break;
+        case "9":
+            speed = 0.9;
+            break;
+        case "0":
+            speed = 1;
+            break;
+        case "w":
+            Robot.move(0, 10, 10);
+            LMOT.write(speed);
+            RMOT.write(speed);
+            break;
+        case "s":
+            LMOT.write(-speed);
+            RMOT.write(-speed);
+            break;
+        case "a":
+            LMOT.write(-speed);
+            RMOT.write(speed);
+            break;
+        case "d":
+            LMOT.write(speed);
+            RMOT.write(-speed);
+            break;
+        case " ":
+            LMOT.write(0);
+            RMOT.write(0);
+            break;
+        case "q":
+            LMOT.write(0);
+            RMOT.write(0);
+            closeCon = true;
+            break;
+        default:
+            break;
+    }
+    if (!closeCon) {
+        stdin.get().then((data) => onGet(data)); // recursive function
+    }
+}
+stdin.get().then((data) => onGet(data)); // start
+/*import * as motors from "motors"
+
+const leftMotor:motors.MotorConf = {neg: 1, pos: 2, encA:3, encB:4, encTicks:200}
+const rightMotor:motors.MotorConf = {neg: 5, pos: 6, encA:7, encB:8, encTicks:200, reverse:true}
+
+const wheels = new motors.Wheels({left:leftMotor, right:rightMotor, diameter:20, width:100})
+
+wheels.move(0, {distance:10})
+
+
+
+import { SmartLed, LED_WS2812 } from "smartled";
+import * as colors from "./libs/colors.js"
+import * as gpio from "gpio";
+import { stdout } from "stdio";
+import * as adc from "adc";
+import * as readline from "./libs/readline.js"
+import * as radio from "simpleradio"
+import * as motor from "./libs/motors.js"
+
+const A1 = 11;
+const A2 = 12;
+const B1 = 45;
+const B2 = 11;
+
+
+const motor_1 = new motor.Motor(A1, A2, 1, 2, 3, false);
+const motor_2 = new motor.Motor(B1, B2, 1, 4, 5, false);
+
+radio.begin(8);
+radio.on("string", (str:string, info:radio.PacketInfo) => {
+    let values = str.split(";")
+    motor_1.write(Number(values[0]))
+    motor_2.write(Number(values[1]))
+})
+
+
+async function test() {
+
+    motor_1.write(0);
+    await sleep(1000);
+    motor_1.write(0.5);
+    await sleep(1000);
+    motor_1.write(1);
+    await sleep(1000);
+    motor_1.write(0);
+    await sleep(1000);
+    motor_1.write(-1);
+    await sleep(1000);
+    motor_1.write(0);
+}
+
+test()*/ 
diff --git a/docs/robutekLibrary/Robutek-library/build/libs/colors.js b/docs/robutekLibrary/Robutek-library/build/libs/colors.js
new file mode 100644
index 00000000..acd8f591
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/build/libs/colors.js
@@ -0,0 +1,57 @@
+/**
+ * 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) {
+    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 = { 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, brightness = 50) {
+    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 = { r: 100, g: 100, b: 100 };
+export const off = { r: 0, g: 0, b: 0 };
diff --git a/docs/robutekLibrary/Robutek-library/build/libs/custom_motors.js b/docs/robutekLibrary/Robutek-library/build/libs/custom_motors.js
new file mode 100644
index 00000000..e5cb22c3
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/build/libs/custom_motors.js
@@ -0,0 +1,40 @@
+import * as ledc from "ledc";
+/**
+ * A class for controlling a servo motor.
+ */
+export class Motor {
+    /**
+     * 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, pin2, timer, channel1, channel2) {
+        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) {
+        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/robutekLibrary/Robutek-library/build/libs/motors.js b/docs/robutekLibrary/Robutek-library/build/libs/motors.js
new file mode 100644
index 00000000..e69de29b
diff --git a/docs/robutekLibrary/Robutek-library/build/libs/readline.js b/docs/robutekLibrary/Robutek-library/build/libs/readline.js
new file mode 100644
index 00000000..0f6f797e
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/build/libs/readline.js
@@ -0,0 +1,66 @@
+import { stdout, stdin } from "stdio";
+/**
+ * A class for reading standard input line by line.
+ */
+export class readline {
+    onGet(str) {
+        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 = false) {
+        this.buffer = "";
+        this.promise = null;
+        this.resolve = null;
+        this.reject = null;
+        this.closed = false;
+        this.echo = echo;
+    }
+    read() {
+        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;
+    }
+    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/robutekLibrary/Robutek-library/build/libs/robot.js b/docs/robutekLibrary/Robutek-library/build/libs/robot.js
new file mode 100644
index 00000000..0996c056
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/build/libs/robot.js
@@ -0,0 +1,114 @@
+/*
+import * as motors from "motors"
+
+const leftMotor: motors.MotorConf = { neg: 1, pos: 2, encA: 3, encB: 4, encTicks: 200 }
+const rightMotor: motors.MotorConf = { neg: 5, pos: 6, encA: 7, encB: 8, encTicks: 200, reverse: true }
+
+const wheels = new motors.Wheels({ left: leftMotor, right: rightMotor, diameter: 20, width: 100 })
+*/
+import * as adc from "adc";
+import * as gpio from "gpio";
+import { Servo } from "./servo.js";
+import { SmartLed, LED_WS2812 } from "smartled";
+export function init() {
+    adc.configure(Sensors.S_1, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
+    adc.configure(Sensors.S_2, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0        
+    adc.configure(Sensors.S_3, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0        
+    adc.configure(Sensors.S_4, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
+    gpio.pinMode(Sensors.S_PWR, gpio.PinMode.OUTPUT); // nastavíme mód pinu podsvícení na output 
+    gpio.pinMode(Sensors.S_SW, gpio.PinMode.OUTPUT);
+    gpio.write(Sensors.S_PWR, 1); // zapneme podsvícení robůtka
+}
+export function move(curve, distance, time) {
+    //wheels.move(curve, {distance:distance, time:time})
+}
+export function rotate(angle) {
+    //wheels.rotate(angle)
+}
+export function stop() {
+    //wheels.stop()
+}
+export class Sensors {
+    constructor() {
+        this.sw = 0;
+    }
+    async switch_sensors(to_value) {
+        if (to_value == this.sw) {
+            return;
+        }
+        this.sw = to_value;
+        gpio.write(Sensors.S_SW, to_value);
+        await sleep(5);
+    }
+    async read(sensor) {
+        switch (sensor) {
+            case 'W_FR':
+                this.switch_sensors(0);
+                return adc.read(Sensors.S_1);
+            case 'W_FL':
+                this.switch_sensors(0);
+                return adc.read(Sensors.S_2);
+            case 'W_BL':
+                this.switch_sensors(0);
+                return adc.read(Sensors.S_3);
+            case 'W_BR':
+                this.switch_sensors(0);
+                return adc.read(Sensors.S_4);
+            case 'L_FR':
+                this.switch_sensors(1);
+                return adc.read(Sensors.S_1);
+            case 'L_FL':
+                this.switch_sensors(1);
+                return adc.read(Sensors.S_2);
+            case 'L_BL':
+                this.switch_sensors(1);
+                return adc.read(Sensors.S_3);
+            case 'L_BR':
+                this.switch_sensors(1);
+                return adc.read(Sensors.S_4);
+            default:
+                return 0;
+        }
+    }
+}
+Sensors.S_1 = 4;
+Sensors.S_2 = 5;
+Sensors.S_3 = 6;
+Sensors.S_4 = 7;
+Sensors.S_SW = 8;
+Sensors.S_PWR = 47;
+export class Pen {
+    constructor(pin) {
+        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.
+     */
+    move(value) {
+        this.servo.write(value);
+    }
+}
+Pen.UP = 512 + 180;
+Pen.DOWN = 512 - 180;
+Pen.MIDDLE = 512;
+Pen.UNLOAD = 0;
+export class Strip {
+    constructor() {
+        this.strip = new SmartLed(48, 9, LED_WS2812);
+    }
+    set(index, color) {
+        this.strip.set(index, color);
+    }
+    fill(color) {
+        for (let i = 0; i < 9; i++) {
+            this.strip.set(i, color);
+        }
+    }
+    show() {
+        this.strip.show();
+    }
+    clear() {
+        this.strip.clear();
+    }
+}
diff --git a/docs/robutekLibrary/Robutek-library/build/libs/servo.js b/docs/robutekLibrary/Robutek-library/build/libs/servo.js
new file mode 100644
index 00000000..3300633a
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/build/libs/servo.js
@@ -0,0 +1,28 @@
+import * as ledc from "ledc";
+/**
+ * A class for controlling a servo motor.
+ */
+export class Servo {
+    /**
+     * 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, timer, channel) {
+        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) {
+        // 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/robutekLibrary/Robutek-library/src/index.ts b/docs/robutekLibrary/Robutek-library/src/index.ts
new file mode 100644
index 00000000..09ea8a5e
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/src/index.ts
@@ -0,0 +1,42 @@
+import { stdin } from "stdio";
+import * as gpio from "gpio";
+import * as colors from "./libs/colors.js"
+
+
+
+
+import * as Robot from "./libs/robot.js"
+
+Robot.init()
+
+const pen = new Robot.Pen(38);
+
+const sensors = new Robot.Sensors();
+
+const strip = new Robot.Strip();
+
+Robot.Pins.ENC1_1
+Robot.Pins.M1_1
+Robot.Pins.Status_LED
+
+strip.set(0, colors.rainbow(123, 5));
+strip.fill({ r: 0, g: 0, b: 0 });
+strip.clear();
+strip.show();
+
+
+pen.move(Robot.Pen.UP);
+pen.move(Robot.Pen.DOWN);
+pen.move(Robot.Pen.MIDDLE);
+pen.move(Robot.Pen.UNLOAD);
+// pen.move(angle); 
+
+
+sensors.read('W_FR').then(console.log)
+// await sensors.read('W_FR') 
+
+/*
+ * Naming:
+ * WFR = Wheel Front Right (in front of right wheel)
+ * LBL = Line Back Left (next to pen)
+ */
diff --git a/docs/robutekLibrary/Robutek-library/src/libs/colors.ts b/docs/robutekLibrary/Robutek-library/src/libs/colors.ts
new file mode 100644
index 00000000..de76a121
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/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/robutekLibrary/Robutek-library/src/libs/motors.ts b/docs/robutekLibrary/Robutek-library/src/libs/motors.ts
new file mode 100644
index 00000000..81795e56
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/src/libs/motors.ts
@@ -0,0 +1,42 @@
+declare module "motors" {
+
+    type MoveDuration = {
+        distance?: number; // distance in cm - negative = reverse
+        speed?: number; // speed in mm/s?
+    }
+
+    type RotateDuration = {
+        angle?: number; // angle in degrees
+        speed?: number; // speed in mm/s?
+    }
+
+    type MotorConf = {
+        pos: number;
+        neg: number;
+        encA: number;
+        encB: number;
+        encTicks: number;
+        reverse?: boolean;
+    };
+
+    class Motor {
+        constructor(options: { pins: MotorConf, diameter: number });
+        setPower(power: number): void;
+        setRamp(ramp: number): void;
+
+        move(duration?: MoveDuration): Promise<void>;
+        stop(brq?: boolean): Promise<void>;
+        getPosition(): number;
+    }
+
+    class Wheels {
+        constructor(options: { left: MotorConf, right: MotorConf, diameter: number, width: number });
+        setPower(power: number): void;
+        setRamp(ramp: number): void;
+
+        move(curve: number, duration?: MoveDuration): Promise<void>;
+        rotate(angle: number): Promise<void>;
+        stop(brq?: boolean): Promise<void>;
+        getPosition(): { left: number, right: number };
+    }
+}
\ No newline at end of file
diff --git a/docs/robutekLibrary/Robutek-library/src/libs/readline.ts b/docs/robutekLibrary/Robutek-library/src/libs/readline.ts
new file mode 100644
index 00000000..4372efd2
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/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/robutekLibrary/Robutek-library/src/libs/robot.ts b/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
new file mode 100644
index 00000000..6622ff4b
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
@@ -0,0 +1,219 @@
+
+import * as adc from "adc";
+import * as gpio from "gpio";
+
+import { Servo } from "./servo.js";
+
+import { SmartLed, LED_WS2812, Rgb } from "smartled";
+
+/*
+import * as motors from "motors"
+
+const leftMotor: motors.MotorConf = { neg: 1, pos: 2, encA: 3, encB: 4, encTicks: 200 }
+const rightMotor: motors.MotorConf = { neg: 5, pos: 6, encA: 7, encB: 8, encTicks: 200, reverse: true }
+
+const wheels = new motors.Wheels({ left: leftMotor, right: rightMotor, diameter: 20, width: 100 })
+*/
+
+import * as motors from "./simplemotors.js"
+
+const LMOT = new motors.Motor(11, 12, 1, 2, 3);
+const RMOT = new motors.Motor(45, 13, 1, 4, 5);
+
+
+
+export function init() {
+    adc.configure(Sensors.S_1, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
+    adc.configure(Sensors.S_2, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0        
+    adc.configure(Sensors.S_3, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0        
+    adc.configure(Sensors.S_4, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
+
+    gpio.pinMode(Sensors.S_PWR, gpio.PinMode.OUTPUT); // nastavíme mód pinu podsvícení na output 
+    gpio.pinMode(Sensors.S_SW, gpio.PinMode.OUTPUT);
+
+    gpio.write(Sensors.S_PWR, 1); // zapneme podsvícení robůtka
+}
+
+
+
+type MoveDuration = {
+    distance?: number; // distance in cm
+    speed?: number; // speed in mm/s?
+}
+export async function move(curve: number, duration?: MoveDuration) {
+    // curve = -1 to 1 
+
+    // Ensure the curve is between -1 and 1
+    if (curve < -1) curve = -1;
+    if (curve > 1) curve = 1;
+
+    if (duration.speed != undefined) {
+        // Just a temporary motor driver
+
+
+        // Calculate motor speeds
+        let m1: number;
+        let m2: number;
+        
+        if (curve >= 0) {
+            // Curve from 0 to 1 (m1 is max, m2 decreases)
+            m1 = duration.speed;
+            m2 = duration.speed * (1 - curve);
+        } else {
+            // Curve from -1 to 0 (m2 is max, m1 decreases)
+            m1 = duration.speed * (1 + curve); // curve is negative, so this increases from 0 to speed
+            m2 = duration.speed;
+        }
+        
+        LMOT.write(m1)
+        RMOT.write(m2)
+
+    }
+
+    //await wheels.move(curve, duration)
+}
+
+
+type RotateDuration = {
+    angle?: number; // angle in degrees
+    speed?: number; // speed in mm/s?
+}
+export function rotate(duration: RotateDuration) {
+
+    LMOT.write(duration.speed);
+    RMOT.write(duration.speed);
+
+    //wheels.rotate(duration)
+}
+
+export function stop() {
+    LMOT.write(1);
+    RMOT.write(1);
+
+    //wheels.stop()
+}
+
+
+export type SensorType = 'W_FR' | 'W_FL' | 'W_BL' | 'W_BR' | 'L_FR' | 'L_FL' | 'L_BL' | 'L_BR';
+export class Sensors {
+
+    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(Sensors.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(Sensors.S_1);
+
+            case 'W_FL':
+                this.switch_sensors(0);
+                return adc.read(Sensors.S_2);
+
+            case 'W_BL':
+                this.switch_sensors(0);
+                return adc.read(Sensors.S_3);
+
+            case 'W_BR':
+                this.switch_sensors(0);
+                return adc.read(Sensors.S_4);
+
+
+            case 'L_FR':
+                this.switch_sensors(1);
+                return adc.read(Sensors.S_1);
+
+            case 'L_FL':
+                this.switch_sensors(1);
+                return adc.read(Sensors.S_2);
+
+            case 'L_BL':
+                this.switch_sensors(1);
+                return adc.read(Sensors.S_3);
+
+            case 'L_BR':
+                this.switch_sensors(1);
+                return adc.read(Sensors.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 class Strip {
+    private strip: SmartLed;
+
+    constructor() {
+        this.strip = new SmartLed(48, 9, LED_WS2812);
+    }
+
+    public set(index: number, color: Rgb) {
+        this.strip.set(index, color);
+    }
+
+    public fill(color: Rgb) {
+        for (let i = 0; i < 9; i++) {
+            this.strip.set(i, color);
+        }
+    }
+
+    public show() {
+        this.strip.show();
+    }
+
+    public clear() {
+        this.strip.clear();
+    }
+}
+
+export class Pins {
+    public static readonly Status_LED: number = 46;
+
+    public static readonly M1_1 = 11;
+    public static readonly M1_2 = 12;
+    public static readonly M2_1 = 45;
+    public static readonly M2_2 = 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/robutekLibrary/Robutek-library/src/libs/servo.ts b/docs/robutekLibrary/Robutek-library/src/libs/servo.ts
new file mode 100644
index 00000000..ac4fe3ee
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/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/robutekLibrary/Robutek-library/src/libs/simplemotors.ts b/docs/robutekLibrary/Robutek-library/src/libs/simplemotors.ts
new file mode 100644
index 00000000..c6f424cd
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/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/robutekLibrary/Robutek-library/tsconfig.json b/docs/robutekLibrary/Robutek-library/tsconfig.json
new file mode 100644
index 00000000..8cf82b10
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/tsconfig.json
@@ -0,0 +1,11 @@
+{
+    "compilerOptions": {
+        "target": "es2020",
+        "module": "es2020",
+        "lib": ["es2020"],
+        "moduleResolution": "node",
+        "sourceMap": false,
+        "outDir": "build",
+        "rootDir": "src",
+    }
+}
diff --git a/docs/robutekLibrary/index.md b/docs/robutekLibrary/index.md
new file mode 100644
index 00000000..6607635b
--- /dev/null
+++ b/docs/robutekLibrary/index.md
@@ -0,0 +1,3 @@
+# Robutek Library
+
+[ZIP s knihovnou](./Robutek-library.zip)
\ No newline at end of file
diff --git a/mkdocs.yml b/mkdocs.yml
index 67622372..78a1f6b6 100755
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -87,6 +87,7 @@ plugins:
         - robot/lekce4/project4
         - robot/lekce6/project6
         - robot/lekce8/project8
+        - robutekLibrary/Robutek-library
       debug: true
 
   - auto-refresh-build-pages:

From 44efb52f95d5e39764a9e2a38f09e5803182548d Mon Sep 17 00:00:00 2001
From: c2coder <jansky.stepan08@gmail.com>
Date: Sun, 7 Jul 2024 22:41:41 +0200
Subject: [PATCH 02/14] Remove build folder and add it to .gitignore

---
 .gitignore                                    |   4 +-
 .../Robutek-library/build/index.js            | 182 ------------------
 .../Robutek-library/build/libs/colors.js      |  57 ------
 .../build/libs/custom_motors.js               |  40 ----
 .../Robutek-library/build/libs/motors.js      |   0
 .../Robutek-library/build/libs/readline.js    |  66 -------
 .../Robutek-library/build/libs/robot.js       | 114 -----------
 .../Robutek-library/build/libs/servo.js       |  28 ---
 8 files changed, 3 insertions(+), 488 deletions(-)
 delete mode 100755 docs/robutekLibrary/Robutek-library/build/index.js
 delete mode 100644 docs/robutekLibrary/Robutek-library/build/libs/colors.js
 delete mode 100644 docs/robutekLibrary/Robutek-library/build/libs/custom_motors.js
 delete mode 100644 docs/robutekLibrary/Robutek-library/build/libs/motors.js
 delete mode 100644 docs/robutekLibrary/Robutek-library/build/libs/readline.js
 delete mode 100644 docs/robutekLibrary/Robutek-library/build/libs/robot.js
 delete mode 100644 docs/robutekLibrary/Robutek-library/build/libs/servo.js

diff --git a/.gitignore b/.gitignore
index b276259f..eed94093 100644
--- a/.gitignore
+++ b/.gitignore
@@ -45,4 +45,6 @@ site/
 assets-large
 .resize-hash
 
-node_modules/
\ No newline at end of file
+node_modules/
+
+build/
\ No newline at end of file
diff --git a/docs/robutekLibrary/Robutek-library/build/index.js b/docs/robutekLibrary/Robutek-library/build/index.js
deleted file mode 100755
index 22b2a48b..00000000
--- a/docs/robutekLibrary/Robutek-library/build/index.js
+++ /dev/null
@@ -1,182 +0,0 @@
-import { stdin } from "stdio";
-import * as Robot from "./libs/robot.js";
-import * as gpio from "gpio";
-import * as colors from "./libs/colors.js";
-import * as motors from "./libs/custom_motors.js";
-Robot.init();
-const pen = new Robot.Pen(38);
-const sensors = new Robot.Sensors();
-const strip = new Robot.Strip();
-const LMOT = new motors.Motor(11, 12, 1, 2, 3);
-const RMOT = new motors.Motor(45, 13, 1, 4, 5);
-function mapRange(fromMin, fromMax, toMin, toMax, number) {
-    return ((number - fromMin) * (toMax - toMin)) / (fromMax - fromMin) + toMin;
-}
-function clamp(value, min, max) {
-    return Math.min(Math.max(value, min), max);
-}
-gpio.pinMode(0, gpio.PinMode.INPUT_PULLUP); // nastavíme pin na input pullup
-gpio.pinMode(2, gpio.PinMode.INPUT_PULLUP); // nastavíme pin na input pullup
-gpio.on("falling", 0, () => {
-    pen.move(Robot.Pen.DOWN);
-});
-gpio.on("falling", 2, () => {
-    pen.move(Robot.Pen.UP);
-});
-async function readSensors() {
-    const max_val = 300;
-    const max_rgb = 5;
-    let sens_1 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_FR')), 0, max_rgb);
-    strip.set(1, { r: sens_1, g: sens_1, b: sens_1 });
-    let sens_2 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_FL')), 0, max_rgb);
-    strip.set(2, { r: sens_2, g: sens_2, b: sens_2 });
-    let sens_3 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_BL')), 0, max_rgb);
-    strip.set(3, { r: sens_3, g: sens_3, b: sens_3 });
-    let sens_4 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_BR')), 0, max_rgb);
-    strip.set(4, { r: sens_4, g: sens_4, b: sens_4 });
-    let sens_5 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_FR')), 0, max_rgb);
-    strip.set(5, { r: sens_5, g: sens_5, b: sens_5 });
-    let sens_6 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_FL')), 0, max_rgb);
-    strip.set(6, { r: sens_6, g: sens_6, b: sens_6 });
-    let sens_7 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_BL')), 0, max_rgb);
-    strip.set(7, { r: sens_7, g: sens_7, b: sens_7 });
-    let sens_8 = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_BR')), 0, max_rgb);
-    strip.set(8, { r: sens_8, g: sens_8, b: sens_8 });
-}
-setInterval(() => {
-    readSensors();
-}, 500);
-let hue = 0;
-async function rgb() {
-    //for (let i = 0; i < 9; i++) {
-    //    let h = hue
-    //    strip.set(i, colors.rainbow((hue + (12 * i)) % 360, 5));
-    //}
-    strip.set(0, colors.rainbow(hue % 360, 5));
-    hue += 1;
-    strip.show();
-}
-setInterval(() => {
-    rgb();
-}, 20);
-let closeCon = false;
-let speed = 0.5;
-function onGet(data) {
-    switch (data) {
-        case "1":
-            speed = 0.1;
-            break;
-        case "2":
-            speed = 0.2;
-            break;
-        case "3":
-            speed = 0.3;
-            break;
-        case "4":
-            speed = 0.4;
-            break;
-        case "5":
-            speed = 0.5;
-            break;
-        case "6":
-            speed = 0.6;
-            break;
-        case "7":
-            speed = 0.7;
-            break;
-        case "8":
-            speed = 0.8;
-            break;
-        case "9":
-            speed = 0.9;
-            break;
-        case "0":
-            speed = 1;
-            break;
-        case "w":
-            Robot.move(0, 10, 10);
-            LMOT.write(speed);
-            RMOT.write(speed);
-            break;
-        case "s":
-            LMOT.write(-speed);
-            RMOT.write(-speed);
-            break;
-        case "a":
-            LMOT.write(-speed);
-            RMOT.write(speed);
-            break;
-        case "d":
-            LMOT.write(speed);
-            RMOT.write(-speed);
-            break;
-        case " ":
-            LMOT.write(0);
-            RMOT.write(0);
-            break;
-        case "q":
-            LMOT.write(0);
-            RMOT.write(0);
-            closeCon = true;
-            break;
-        default:
-            break;
-    }
-    if (!closeCon) {
-        stdin.get().then((data) => onGet(data)); // recursive function
-    }
-}
-stdin.get().then((data) => onGet(data)); // start
-/*import * as motors from "motors"
-
-const leftMotor:motors.MotorConf = {neg: 1, pos: 2, encA:3, encB:4, encTicks:200}
-const rightMotor:motors.MotorConf = {neg: 5, pos: 6, encA:7, encB:8, encTicks:200, reverse:true}
-
-const wheels = new motors.Wheels({left:leftMotor, right:rightMotor, diameter:20, width:100})
-
-wheels.move(0, {distance:10})
-
-
-
-import { SmartLed, LED_WS2812 } from "smartled";
-import * as colors from "./libs/colors.js"
-import * as gpio from "gpio";
-import { stdout } from "stdio";
-import * as adc from "adc";
-import * as readline from "./libs/readline.js"
-import * as radio from "simpleradio"
-import * as motor from "./libs/motors.js"
-
-const A1 = 11;
-const A2 = 12;
-const B1 = 45;
-const B2 = 11;
-
-
-const motor_1 = new motor.Motor(A1, A2, 1, 2, 3, false);
-const motor_2 = new motor.Motor(B1, B2, 1, 4, 5, false);
-
-radio.begin(8);
-radio.on("string", (str:string, info:radio.PacketInfo) => {
-    let values = str.split(";")
-    motor_1.write(Number(values[0]))
-    motor_2.write(Number(values[1]))
-})
-
-
-async function test() {
-
-    motor_1.write(0);
-    await sleep(1000);
-    motor_1.write(0.5);
-    await sleep(1000);
-    motor_1.write(1);
-    await sleep(1000);
-    motor_1.write(0);
-    await sleep(1000);
-    motor_1.write(-1);
-    await sleep(1000);
-    motor_1.write(0);
-}
-
-test()*/ 
diff --git a/docs/robutekLibrary/Robutek-library/build/libs/colors.js b/docs/robutekLibrary/Robutek-library/build/libs/colors.js
deleted file mode 100644
index acd8f591..00000000
--- a/docs/robutekLibrary/Robutek-library/build/libs/colors.js
+++ /dev/null
@@ -1,57 +0,0 @@
-/**
- * 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) {
-    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 = { 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, brightness = 50) {
-    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 = { r: 100, g: 100, b: 100 };
-export const off = { r: 0, g: 0, b: 0 };
diff --git a/docs/robutekLibrary/Robutek-library/build/libs/custom_motors.js b/docs/robutekLibrary/Robutek-library/build/libs/custom_motors.js
deleted file mode 100644
index e5cb22c3..00000000
--- a/docs/robutekLibrary/Robutek-library/build/libs/custom_motors.js
+++ /dev/null
@@ -1,40 +0,0 @@
-import * as ledc from "ledc";
-/**
- * A class for controlling a servo motor.
- */
-export class Motor {
-    /**
-     * 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, pin2, timer, channel1, channel2) {
-        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) {
-        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/robutekLibrary/Robutek-library/build/libs/motors.js b/docs/robutekLibrary/Robutek-library/build/libs/motors.js
deleted file mode 100644
index e69de29b..00000000
diff --git a/docs/robutekLibrary/Robutek-library/build/libs/readline.js b/docs/robutekLibrary/Robutek-library/build/libs/readline.js
deleted file mode 100644
index 0f6f797e..00000000
--- a/docs/robutekLibrary/Robutek-library/build/libs/readline.js
+++ /dev/null
@@ -1,66 +0,0 @@
-import { stdout, stdin } from "stdio";
-/**
- * A class for reading standard input line by line.
- */
-export class readline {
-    onGet(str) {
-        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 = false) {
-        this.buffer = "";
-        this.promise = null;
-        this.resolve = null;
-        this.reject = null;
-        this.closed = false;
-        this.echo = echo;
-    }
-    read() {
-        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;
-    }
-    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/robutekLibrary/Robutek-library/build/libs/robot.js b/docs/robutekLibrary/Robutek-library/build/libs/robot.js
deleted file mode 100644
index 0996c056..00000000
--- a/docs/robutekLibrary/Robutek-library/build/libs/robot.js
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
-import * as motors from "motors"
-
-const leftMotor: motors.MotorConf = { neg: 1, pos: 2, encA: 3, encB: 4, encTicks: 200 }
-const rightMotor: motors.MotorConf = { neg: 5, pos: 6, encA: 7, encB: 8, encTicks: 200, reverse: true }
-
-const wheels = new motors.Wheels({ left: leftMotor, right: rightMotor, diameter: 20, width: 100 })
-*/
-import * as adc from "adc";
-import * as gpio from "gpio";
-import { Servo } from "./servo.js";
-import { SmartLed, LED_WS2812 } from "smartled";
-export function init() {
-    adc.configure(Sensors.S_1, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
-    adc.configure(Sensors.S_2, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0        
-    adc.configure(Sensors.S_3, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0        
-    adc.configure(Sensors.S_4, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
-    gpio.pinMode(Sensors.S_PWR, gpio.PinMode.OUTPUT); // nastavíme mód pinu podsvícení na output 
-    gpio.pinMode(Sensors.S_SW, gpio.PinMode.OUTPUT);
-    gpio.write(Sensors.S_PWR, 1); // zapneme podsvícení robůtka
-}
-export function move(curve, distance, time) {
-    //wheels.move(curve, {distance:distance, time:time})
-}
-export function rotate(angle) {
-    //wheels.rotate(angle)
-}
-export function stop() {
-    //wheels.stop()
-}
-export class Sensors {
-    constructor() {
-        this.sw = 0;
-    }
-    async switch_sensors(to_value) {
-        if (to_value == this.sw) {
-            return;
-        }
-        this.sw = to_value;
-        gpio.write(Sensors.S_SW, to_value);
-        await sleep(5);
-    }
-    async read(sensor) {
-        switch (sensor) {
-            case 'W_FR':
-                this.switch_sensors(0);
-                return adc.read(Sensors.S_1);
-            case 'W_FL':
-                this.switch_sensors(0);
-                return adc.read(Sensors.S_2);
-            case 'W_BL':
-                this.switch_sensors(0);
-                return adc.read(Sensors.S_3);
-            case 'W_BR':
-                this.switch_sensors(0);
-                return adc.read(Sensors.S_4);
-            case 'L_FR':
-                this.switch_sensors(1);
-                return adc.read(Sensors.S_1);
-            case 'L_FL':
-                this.switch_sensors(1);
-                return adc.read(Sensors.S_2);
-            case 'L_BL':
-                this.switch_sensors(1);
-                return adc.read(Sensors.S_3);
-            case 'L_BR':
-                this.switch_sensors(1);
-                return adc.read(Sensors.S_4);
-            default:
-                return 0;
-        }
-    }
-}
-Sensors.S_1 = 4;
-Sensors.S_2 = 5;
-Sensors.S_3 = 6;
-Sensors.S_4 = 7;
-Sensors.S_SW = 8;
-Sensors.S_PWR = 47;
-export class Pen {
-    constructor(pin) {
-        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.
-     */
-    move(value) {
-        this.servo.write(value);
-    }
-}
-Pen.UP = 512 + 180;
-Pen.DOWN = 512 - 180;
-Pen.MIDDLE = 512;
-Pen.UNLOAD = 0;
-export class Strip {
-    constructor() {
-        this.strip = new SmartLed(48, 9, LED_WS2812);
-    }
-    set(index, color) {
-        this.strip.set(index, color);
-    }
-    fill(color) {
-        for (let i = 0; i < 9; i++) {
-            this.strip.set(i, color);
-        }
-    }
-    show() {
-        this.strip.show();
-    }
-    clear() {
-        this.strip.clear();
-    }
-}
diff --git a/docs/robutekLibrary/Robutek-library/build/libs/servo.js b/docs/robutekLibrary/Robutek-library/build/libs/servo.js
deleted file mode 100644
index 3300633a..00000000
--- a/docs/robutekLibrary/Robutek-library/build/libs/servo.js
+++ /dev/null
@@ -1,28 +0,0 @@
-import * as ledc from "ledc";
-/**
- * A class for controlling a servo motor.
- */
-export class Servo {
-    /**
-     * 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, timer, channel) {
-        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) {
-        // 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
-    }
-}

From 76acc12514c831ae5bd64d19cdc4757257db2d50 Mon Sep 17 00:00:00 2001
From: c2coder <jansky.stepan08@gmail.com>
Date: Sun, 7 Jul 2024 23:08:11 +0200
Subject: [PATCH 03/14] Add example code + fix rotate function

---
 .../Robutek-library/src/index.ts              | 166 +++++++++++++++++-
 .../Robutek-library/src/libs/robot.ts         |  13 +-
 2 files changed, 167 insertions(+), 12 deletions(-)

diff --git a/docs/robutekLibrary/Robutek-library/src/index.ts b/docs/robutekLibrary/Robutek-library/src/index.ts
index 09ea8a5e..662e3afb 100644
--- a/docs/robutekLibrary/Robutek-library/src/index.ts
+++ b/docs/robutekLibrary/Robutek-library/src/index.ts
@@ -3,8 +3,6 @@ import * as gpio from "gpio";
 import * as colors from "./libs/colors.js"
 
 
-
-
 import * as Robot from "./libs/robot.js"
 
 Robot.init()
@@ -15,13 +13,14 @@ const sensors = new Robot.Sensors();
 
 const strip = new Robot.Strip();
 
+/* ALL FUNCITONS
 Robot.Pins.ENC1_1
 Robot.Pins.M1_1
 Robot.Pins.Status_LED
 
-strip.set(0, colors.rainbow(123, 5));
-strip.fill({ r: 0, g: 0, b: 0 });
 strip.clear();
+strip.fill({ r: 0, g: 0, b: 0 });
+strip.set(0, colors.rainbow(123, 5));
 strip.show();
 
 
@@ -29,14 +28,165 @@ pen.move(Robot.Pen.UP);
 pen.move(Robot.Pen.DOWN);
 pen.move(Robot.Pen.MIDDLE);
 pen.move(Robot.Pen.UNLOAD);
-// pen.move(angle); 
-
+pen.move(angle); 
 
 sensors.read('W_FR').then(console.log)
-// await sensors.read('W_FR') 
+await sensors.read('W_FR') 
+
 
 /*
- * Naming:
+ * Naming for sensors:
  * WFR = Wheel Front Right (in front of right wheel)
  * LBL = Line Back Left (next to pen)
  */
+
+
+
+
+
+
+function mapRange(fromMin: number, fromMax: number, toMin: number, toMax: number, number: number): number {
+    return ((number - fromMin) * (toMax - toMin)) / (fromMax - fromMin) + toMin;
+}
+
+function clamp(value: number, min: number, max: number): number {
+    return Math.min(Math.max(value, min), max);
+}
+
+
+gpio.pinMode(0, gpio.PinMode.INPUT_PULLUP);
+gpio.pinMode(2, gpio.PinMode.INPUT_PULLUP);
+
+gpio.on("falling", 0, () => {
+    pen.move(Robot.Pen.DOWN)
+});
+
+gpio.on("falling", 2, () => {
+    pen.move(Robot.Pen.UP)
+});
+
+
+async function readSensors() {
+    // 
+
+    const max_val: number = 300;
+    const max_rgb: number = 5;
+
+    // read sensor; convert it to a range; display it on the strip
+    let sens_1: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_FR')), 0, max_rgb)
+    strip.set(1, { r: sens_1, g: sens_1, b: sens_1 });
+
+    let sens_2: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_FL')), 0, max_rgb)
+    strip.set(2, { r: sens_2, g: sens_2, b: sens_2 });
+
+    let sens_3: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_BL')), 0, max_rgb)
+    strip.set(3, { r: sens_3, g: sens_3, b: sens_3 });
+
+    let sens_4: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_BR')), 0, max_rgb)
+    strip.set(4, { r: sens_4, g: sens_4, b: sens_4 });
+
+    let sens_5: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_FR')), 0, max_rgb)
+    strip.set(5, { r: sens_5, g: sens_5, b: sens_5 });
+
+    let sens_6: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_FL')), 0, max_rgb)
+    strip.set(6, { r: sens_6, g: sens_6, b: sens_6 });
+
+    let sens_7: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_BL')), 0, max_rgb)
+    strip.set(7, { r: sens_7, g: sens_7, b: sens_7 });
+
+    let sens_8: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_BR')), 0, max_rgb)
+    strip.set(8, { r: sens_8, g: sens_8, b: sens_8 });
+}
+
+
+setInterval(() => {
+    readSensors();
+}, 500);
+
+
+let hue = 0;
+async function rgb() {
+    //for (let i = 0; i < 9; i++) {
+    //    let h = hue
+    //    strip.set(i, colors.rainbow((hue + (12 * i)) % 360, 5));
+    //}
+    strip.set(0, colors.rainbow(hue % 360, 5));
+    hue += 1;
+    strip.show();
+}
+
+setInterval(() => {
+    rgb();
+}, 20);
+
+
+Robot.stop();
+
+let closeCon = false
+let speed = 0.1;
+
+function onGet(data: String) {
+    switch (data) {
+        case "1":
+            speed = 0.1;
+            break;
+        case "2":
+            speed = 0.2;
+            break;
+        case "3":
+            speed = 0.3;
+            break;
+        case "4":
+            speed = 0.4;
+            break;
+        case "5":
+            speed = 0.5;
+            break;
+        case "6":
+            speed = 0.6;
+            break;
+        case "7":
+            speed = 0.7;
+            break;
+        case "8":
+            speed = 0.8;
+            break;
+        case "9":
+            speed = 0.9;
+            break;
+        case "0":
+            speed = 1;
+            break;
+
+
+        case "w":
+            Robot.move(0, { speed: speed })
+            break;
+        case "s":
+            Robot.move(0, { speed: -speed })
+            break;
+        case "a":
+            Robot.rotate({ angle: 90, speed: speed })
+            break;
+        case "d":
+            Robot.rotate({ angle: -90, speed: speed })
+            break;
+        case " ":
+            Robot.stop();
+            break;
+        case "q":
+            Robot.stop();
+            closeCon = true
+            break;
+
+        default:
+            break;
+    }
+
+    if (!closeCon) {
+        stdin.get().then((data) => onGet(data)) // recursive function
+    }
+}
+
+
+stdin.get().then((data) => onGet(data)) // start
\ No newline at end of file
diff --git a/docs/robutekLibrary/Robutek-library/src/libs/robot.ts b/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
index 6622ff4b..29cfd075 100644
--- a/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
+++ b/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
@@ -80,15 +80,20 @@ type RotateDuration = {
 }
 export function rotate(duration: RotateDuration) {
 
-    LMOT.write(duration.speed);
-    RMOT.write(duration.speed);
+    if (duration.angle < 0) {
+        LMOT.write(duration.speed);
+        RMOT.write(-duration.speed);
+    } else {
+        LMOT.write(-duration.speed);
+        RMOT.write(duration.speed);
+    }
 
     //wheels.rotate(duration)
 }
 
 export function stop() {
-    LMOT.write(1);
-    RMOT.write(1);
+    LMOT.write(0);
+    RMOT.write(0);
 
     //wheels.stop()
 }

From 85c46147633024a1392379407bae78d324c2063e Mon Sep 17 00:00:00 2001
From: Jakub Andrysek <jakub.andrysek03@gmail.com>
Date: Mon, 8 Jul 2024 11:41:52 +0200
Subject: [PATCH 04/14] Update dts

---
 .../Robutek-library/@types/keyvalue.d.ts      | 61 ++++++++++++++
 .../Robutek-library/@types/motor.d.ts         | 82 +++++++++++++++++++
 .../Robutek-library/src/libs/robot.ts         | 12 +--
 3 files changed, 149 insertions(+), 6 deletions(-)
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/keyvalue.d.ts
 create mode 100644 docs/robutekLibrary/Robutek-library/@types/motor.d.ts

diff --git a/docs/robutekLibrary/Robutek-library/@types/keyvalue.d.ts b/docs/robutekLibrary/Robutek-library/@types/keyvalue.d.ts
new file mode 100644
index 00000000..761b09fb
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/@types/motor.d.ts b/docs/robutekLibrary/Robutek-library/@types/motor.d.ts
new file mode 100644
index 00000000..2ec31392
--- /dev/null
+++ b/docs/robutekLibrary/Robutek-library/@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/robutekLibrary/Robutek-library/src/libs/robot.ts b/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
index 29cfd075..44a4edaa 100644
--- a/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
+++ b/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
@@ -24,11 +24,11 @@ const RMOT = new motors.Motor(45, 13, 1, 4, 5);
 
 export function init() {
     adc.configure(Sensors.S_1, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
-    adc.configure(Sensors.S_2, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0        
-    adc.configure(Sensors.S_3, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0        
+    adc.configure(Sensors.S_2, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
+    adc.configure(Sensors.S_3, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
     adc.configure(Sensors.S_4, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
 
-    gpio.pinMode(Sensors.S_PWR, gpio.PinMode.OUTPUT); // nastavíme mód pinu podsvícení na output 
+    gpio.pinMode(Sensors.S_PWR, gpio.PinMode.OUTPUT); // nastavíme mód pinu podsvícení na output
     gpio.pinMode(Sensors.S_SW, gpio.PinMode.OUTPUT);
 
     gpio.write(Sensors.S_PWR, 1); // zapneme podsvícení robůtka
@@ -41,7 +41,7 @@ type MoveDuration = {
     speed?: number; // speed in mm/s?
 }
 export async function move(curve: number, duration?: MoveDuration) {
-    // curve = -1 to 1 
+    // curve = -1 to 1
 
     // Ensure the curve is between -1 and 1
     if (curve < -1) curve = -1;
@@ -54,7 +54,7 @@ export async function move(curve: number, duration?: MoveDuration) {
         // Calculate motor speeds
         let m1: number;
         let m2: number;
-        
+
         if (curve >= 0) {
             // Curve from 0 to 1 (m1 is max, m2 decreases)
             m1 = duration.speed;
@@ -64,7 +64,7 @@ export async function move(curve: number, duration?: MoveDuration) {
             m1 = duration.speed * (1 + curve); // curve is negative, so this increases from 0 to speed
             m2 = duration.speed;
         }
-        
+
         LMOT.write(m1)
         RMOT.write(m2)
 

From 0ea8dfca7303c5b4cfb83c19b1e4ecadafeb578d Mon Sep 17 00:00:00 2001
From: Jakub Andrysek <jakub.andrysek03@gmail.com>
Date: Mon, 8 Jul 2024 11:56:00 +0200
Subject: [PATCH 05/14] Add minimal code

---
 .../Robutek-library/src/index.ts              | 186 +-----------------
 1 file changed, 2 insertions(+), 184 deletions(-)

diff --git a/docs/robutekLibrary/Robutek-library/src/index.ts b/docs/robutekLibrary/Robutek-library/src/index.ts
index 662e3afb..01a80dca 100644
--- a/docs/robutekLibrary/Robutek-library/src/index.ts
+++ b/docs/robutekLibrary/Robutek-library/src/index.ts
@@ -1,192 +1,10 @@
-import { stdin } from "stdio";
-import * as gpio from "gpio";
-import * as colors from "./libs/colors.js"
-
-
 import * as Robot from "./libs/robot.js"
 
 Robot.init()
 
-const pen = new Robot.Pen(38);
-
-const sensors = new Robot.Sensors();
-
 const strip = new Robot.Strip();
-
-/* ALL FUNCITONS
-Robot.Pins.ENC1_1
-Robot.Pins.M1_1
-Robot.Pins.Status_LED
-
 strip.clear();
-strip.fill({ r: 0, g: 0, b: 0 });
-strip.set(0, colors.rainbow(123, 5));
+strip.set(0, { r: 255, g: 0, b: 0 });
 strip.show();
 
-
-pen.move(Robot.Pen.UP);
-pen.move(Robot.Pen.DOWN);
-pen.move(Robot.Pen.MIDDLE);
-pen.move(Robot.Pen.UNLOAD);
-pen.move(angle); 
-
-sensors.read('W_FR').then(console.log)
-await sensors.read('W_FR') 
-
-
-/*
- * Naming for sensors:
- * WFR = Wheel Front Right (in front of right wheel)
- * LBL = Line Back Left (next to pen)
- */
-
-
-
-
-
-
-function mapRange(fromMin: number, fromMax: number, toMin: number, toMax: number, number: number): number {
-    return ((number - fromMin) * (toMax - toMin)) / (fromMax - fromMin) + toMin;
-}
-
-function clamp(value: number, min: number, max: number): number {
-    return Math.min(Math.max(value, min), max);
-}
-
-
-gpio.pinMode(0, gpio.PinMode.INPUT_PULLUP);
-gpio.pinMode(2, gpio.PinMode.INPUT_PULLUP);
-
-gpio.on("falling", 0, () => {
-    pen.move(Robot.Pen.DOWN)
-});
-
-gpio.on("falling", 2, () => {
-    pen.move(Robot.Pen.UP)
-});
-
-
-async function readSensors() {
-    // 
-
-    const max_val: number = 300;
-    const max_rgb: number = 5;
-
-    // read sensor; convert it to a range; display it on the strip
-    let sens_1: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_FR')), 0, max_rgb)
-    strip.set(1, { r: sens_1, g: sens_1, b: sens_1 });
-
-    let sens_2: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_FL')), 0, max_rgb)
-    strip.set(2, { r: sens_2, g: sens_2, b: sens_2 });
-
-    let sens_3: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_BL')), 0, max_rgb)
-    strip.set(3, { r: sens_3, g: sens_3, b: sens_3 });
-
-    let sens_4: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('W_BR')), 0, max_rgb)
-    strip.set(4, { r: sens_4, g: sens_4, b: sens_4 });
-
-    let sens_5: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_FR')), 0, max_rgb)
-    strip.set(5, { r: sens_5, g: sens_5, b: sens_5 });
-
-    let sens_6: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_FL')), 0, max_rgb)
-    strip.set(6, { r: sens_6, g: sens_6, b: sens_6 });
-
-    let sens_7: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_BL')), 0, max_rgb)
-    strip.set(7, { r: sens_7, g: sens_7, b: sens_7 });
-
-    let sens_8: number = clamp(mapRange(20, 1023, 0, max_val, await sensors.read('L_BR')), 0, max_rgb)
-    strip.set(8, { r: sens_8, g: sens_8, b: sens_8 });
-}
-
-
-setInterval(() => {
-    readSensors();
-}, 500);
-
-
-let hue = 0;
-async function rgb() {
-    //for (let i = 0; i < 9; i++) {
-    //    let h = hue
-    //    strip.set(i, colors.rainbow((hue + (12 * i)) % 360, 5));
-    //}
-    strip.set(0, colors.rainbow(hue % 360, 5));
-    hue += 1;
-    strip.show();
-}
-
-setInterval(() => {
-    rgb();
-}, 20);
-
-
-Robot.stop();
-
-let closeCon = false
-let speed = 0.1;
-
-function onGet(data: String) {
-    switch (data) {
-        case "1":
-            speed = 0.1;
-            break;
-        case "2":
-            speed = 0.2;
-            break;
-        case "3":
-            speed = 0.3;
-            break;
-        case "4":
-            speed = 0.4;
-            break;
-        case "5":
-            speed = 0.5;
-            break;
-        case "6":
-            speed = 0.6;
-            break;
-        case "7":
-            speed = 0.7;
-            break;
-        case "8":
-            speed = 0.8;
-            break;
-        case "9":
-            speed = 0.9;
-            break;
-        case "0":
-            speed = 1;
-            break;
-
-
-        case "w":
-            Robot.move(0, { speed: speed })
-            break;
-        case "s":
-            Robot.move(0, { speed: -speed })
-            break;
-        case "a":
-            Robot.rotate({ angle: 90, speed: speed })
-            break;
-        case "d":
-            Robot.rotate({ angle: -90, speed: speed })
-            break;
-        case " ":
-            Robot.stop();
-            break;
-        case "q":
-            Robot.stop();
-            closeCon = true
-            break;
-
-        default:
-            break;
-    }
-
-    if (!closeCon) {
-        stdin.get().then((data) => onGet(data)) // recursive function
-    }
-}
-
-
-stdin.get().then((data) => onGet(data)) // start
\ No newline at end of file
+console.log("Robotický tábor 2024")

From 152e2c9913bebce9caa916c792032469dc7e41f6 Mon Sep 17 00:00:00 2001
From: Jakub Andrysek <jakub.andrysek03@gmail.com>
Date: Mon, 8 Jul 2024 13:03:44 +0200
Subject: [PATCH 06/14] Update robutek lib

---
 updates_robutek.sh | 22 ++++++++++++++++++++++
 1 file changed, 22 insertions(+)
 create mode 100755 updates_robutek.sh

diff --git a/updates_robutek.sh b/updates_robutek.sh
new file mode 100755
index 00000000..13aa30e7
--- /dev/null
+++ b/updates_robutek.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+
+# Tool for updating robutek.ts files in all repository
+# Default location of robutek.ts is in docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
+
+ROBUTEK_FILE="robutek.ts"
+DEFAULT_ROBOTEK_PATH="docs/robutekLibrary/Robutek-library/src/libs/"$ROBUTEK_FILE
+
+# Check if exist DEFAULT_ROBOTEK_PATH
+if [ ! -f "$DEFAULT_ROBOTEK_PATH" ]; then
+    echo "File $DEFAULT_ROBOTEK_PATH does not exist."
+    exit 1
+fi
+
+
+echo "Updating robutek.ts in all repositories"
+# Find ROBOTEK_FILE in all repositories an replace it with DEFAULT_ROBOTEK_PATH
+for d in */ ; do
+    if [ -d "$d" ]; then
+        find $d -type f -name $ROBUTEK_FILE -exec echo "Updating $ROBUTEK_FILE in $d" \; -exec cp $DEFAULT_ROBOTEK_PATH $d$ROBUTEK_FILE \;
+    fi
+done
\ No newline at end of file

From ea98f105fc14556ddbd6dbd343ff158fa5031edf Mon Sep 17 00:00:00 2001
From: c2coder <jansky.stepan08@gmail.com>
Date: Mon, 8 Jul 2024 13:19:26 +0200
Subject: [PATCH 07/14] Update library

---
 .../Robutek-library/src/index.ts              |  19 +++-
 .../Robutek-library/src/libs/motors.ts        |  42 --------
 .../Robutek-library/src/libs/robot.ts         | 102 ++++++++----------
 3 files changed, 58 insertions(+), 105 deletions(-)
 delete mode 100644 docs/robutekLibrary/Robutek-library/src/libs/motors.ts

diff --git a/docs/robutekLibrary/Robutek-library/src/index.ts b/docs/robutekLibrary/Robutek-library/src/index.ts
index 01a80dca..5c69acf1 100644
--- a/docs/robutekLibrary/Robutek-library/src/index.ts
+++ b/docs/robutekLibrary/Robutek-library/src/index.ts
@@ -2,9 +2,20 @@ import * as Robot from "./libs/robot.js"
 
 Robot.init()
 
-const strip = new Robot.Strip();
-strip.clear();
-strip.set(0, { r: 255, g: 0, b: 0 });
-strip.show();
+Robot.strip.clear();
+Robot.strip.set(0, { r: 255, g: 0, b: 0 });
+Robot.strip.show();
+
+/*
+async function main() {
+    await Robot.RightMot.move({time:Infinity})
+    console.log("move");
+}
+main();
+
+setInterval(() => {
+    console.log(Robot.RightMot.getPosition());
+},   100);
+*/
 
 console.log("Robotický tábor 2024")
diff --git a/docs/robutekLibrary/Robutek-library/src/libs/motors.ts b/docs/robutekLibrary/Robutek-library/src/libs/motors.ts
deleted file mode 100644
index 81795e56..00000000
--- a/docs/robutekLibrary/Robutek-library/src/libs/motors.ts
+++ /dev/null
@@ -1,42 +0,0 @@
-declare module "motors" {
-
-    type MoveDuration = {
-        distance?: number; // distance in cm - negative = reverse
-        speed?: number; // speed in mm/s?
-    }
-
-    type RotateDuration = {
-        angle?: number; // angle in degrees
-        speed?: number; // speed in mm/s?
-    }
-
-    type MotorConf = {
-        pos: number;
-        neg: number;
-        encA: number;
-        encB: number;
-        encTicks: number;
-        reverse?: boolean;
-    };
-
-    class Motor {
-        constructor(options: { pins: MotorConf, diameter: number });
-        setPower(power: number): void;
-        setRamp(ramp: number): void;
-
-        move(duration?: MoveDuration): Promise<void>;
-        stop(brq?: boolean): Promise<void>;
-        getPosition(): number;
-    }
-
-    class Wheels {
-        constructor(options: { left: MotorConf, right: MotorConf, diameter: number, width: number });
-        setPower(power: number): void;
-        setRamp(ramp: number): void;
-
-        move(curve: number, duration?: MoveDuration): Promise<void>;
-        rotate(angle: number): Promise<void>;
-        stop(brq?: boolean): Promise<void>;
-        getPosition(): { left: number, right: number };
-    }
-}
\ No newline at end of file
diff --git a/docs/robutekLibrary/Robutek-library/src/libs/robot.ts b/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
index 44a4edaa..1f0a7f9a 100644
--- a/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
+++ b/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
@@ -6,32 +6,38 @@ import { Servo } from "./servo.js";
 
 import { SmartLed, LED_WS2812, Rgb } from "smartled";
 
-/*
-import * as motors from "motors"
+import * as motors from "motor"
 
-const leftMotor: motors.MotorConf = { neg: 1, pos: 2, encA: 3, encB: 4, encTicks: 200 }
-const rightMotor: motors.MotorConf = { neg: 5, pos: 6, encA: 7, encB: 8, encTicks: 200, reverse: true }
+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 wheels = new motors.Wheels({ left: leftMotor, right: rightMotor, diameter: 20, width: 100 })
-*/
+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});
 
-import * as motors from "./simplemotors.js"
+//const wheels = new motors.Wheels({ left: leftMotor, right: rightMotor, diameter: 20, width: 100 })
 
-const LMOT = new motors.Motor(11, 12, 1, 2, 3);
-const RMOT = new motors.Motor(45, 13, 1, 4, 5);
+/*
+
+import * as simplemotors from "./simplemotors.js"
 
+const LMOT = new simplemotors.Motor(11, 12, 1, 2, 3);
+const RMOT = new simplemotors.Motor(45, 13, 1, 4, 5);
 
+*/
 
 export function init() {
-    adc.configure(Sensors.S_1, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
-    adc.configure(Sensors.S_2, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
-    adc.configure(Sensors.S_3, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
-    adc.configure(Sensors.S_4, adc.Attenuation.Db0); // pin senzoru nakonfigurujeme s útlumem nastaveným na 0
+    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(Sensors.S_PWR, gpio.PinMode.OUTPUT); // nastavíme mód pinu podsvícení na output
-    gpio.pinMode(Sensors.S_SW, gpio.PinMode.OUTPUT);
+    gpio.pinMode(LineSensors.S_PWR, gpio.PinMode.OUTPUT);
+    gpio.pinMode(LineSensors.S_SW, gpio.PinMode.OUTPUT);
 
-    gpio.write(Sensors.S_PWR, 1); // zapneme podsvícení robůtka
+    gpio.write(LineSensors.S_PWR, 1);
 }
 
 
@@ -40,6 +46,7 @@ type MoveDuration = {
     distance?: number; // distance in cm
     speed?: number; // speed in mm/s?
 }
+/*
 export async function move(curve: number, duration?: MoveDuration) {
     // curve = -1 to 1
 
@@ -79,7 +86,7 @@ type RotateDuration = {
     speed?: number; // speed in mm/s?
 }
 export function rotate(duration: RotateDuration) {
-
+    
     if (duration.angle < 0) {
         LMOT.write(duration.speed);
         RMOT.write(-duration.speed);
@@ -87,21 +94,22 @@ export function rotate(duration: RotateDuration) {
         LMOT.write(-duration.speed);
         RMOT.write(duration.speed);
     }
-
+    
     //wheels.rotate(duration)
 }
 
 export function stop() {
     LMOT.write(0);
     RMOT.write(0);
-
+    
     //wheels.stop()
 }
+*/
 
 
 export type SensorType = 'W_FR' | 'W_FL' | 'W_BL' | 'W_BR' | 'L_FR' | 'L_FL' | 'L_BL' | 'L_BR';
-export class Sensors {
-
+export class LineSensors {
+    
     public static readonly S_1: number = 4;
     public static readonly S_2: number = 5;
     public static readonly S_3: number = 6;
@@ -117,7 +125,7 @@ export class Sensors {
             return;
         }
         this.sw = to_value;
-        gpio.write(Sensors.S_SW, to_value);
+        gpio.write(LineSensors.S_SW, to_value);
         await sleep(5);
     }
 
@@ -125,36 +133,36 @@ export class Sensors {
         switch (sensor) {
             case 'W_FR':
                 this.switch_sensors(0);
-                return adc.read(Sensors.S_1);
+                return adc.read(LineSensors.S_1);
 
             case 'W_FL':
                 this.switch_sensors(0);
-                return adc.read(Sensors.S_2);
+                return adc.read(LineSensors.S_2);
 
             case 'W_BL':
                 this.switch_sensors(0);
-                return adc.read(Sensors.S_3);
+                return adc.read(LineSensors.S_3);
 
             case 'W_BR':
                 this.switch_sensors(0);
-                return adc.read(Sensors.S_4);
+                return adc.read(LineSensors.S_4);
 
 
             case 'L_FR':
                 this.switch_sensors(1);
-                return adc.read(Sensors.S_1);
+                return adc.read(LineSensors.S_1);
 
             case 'L_FL':
                 this.switch_sensors(1);
-                return adc.read(Sensors.S_2);
+                return adc.read(LineSensors.S_2);
 
             case 'L_BL':
                 this.switch_sensors(1);
-                return adc.read(Sensors.S_3);
+                return adc.read(LineSensors.S_3);
 
             case 'L_BR':
                 this.switch_sensors(1);
-                return adc.read(Sensors.S_4);
+                return adc.read(LineSensors.S_4);
 
             default:
                 return 0;
@@ -184,39 +192,15 @@ export class Pen {
     }
 }
 
-export class Strip {
-    private strip: SmartLed;
-
-    constructor() {
-        this.strip = new SmartLed(48, 9, LED_WS2812);
-    }
-
-    public set(index: number, color: Rgb) {
-        this.strip.set(index, color);
-    }
-
-    public fill(color: Rgb) {
-        for (let i = 0; i < 9; i++) {
-            this.strip.set(i, color);
-        }
-    }
-
-    public show() {
-        this.strip.show();
-    }
-
-    public clear() {
-        this.strip.clear();
-    }
-}
+export const strip = new SmartLed(48, 9, LED_WS2812);
 
 export class Pins {
     public static readonly Status_LED: number = 46;
 
-    public static readonly M1_1 = 11;
-    public static readonly M1_2 = 12;
-    public static readonly M2_1 = 45;
-    public static readonly M2_2 = 13;
+    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;

From ef9aa728eaa526d1ff450137decb3983876bed9a Mon Sep 17 00:00:00 2001
From: Jakub Andrysek <jakub.andrysek03@gmail.com>
Date: Mon, 8 Jul 2024 13:33:29 +0200
Subject: [PATCH 08/14] Rename to Robutek

---
 .../Robutek-library/src/index.ts              | 21 ++---
 .../src/libs/{robot.ts => robutek.ts}         | 77 +------------------
 updates_robutek.sh                            | 18 ++---
 3 files changed, 17 insertions(+), 99 deletions(-)
 rename docs/robutekLibrary/Robutek-library/src/libs/{robot.ts => robutek.ts} (65%)

diff --git a/docs/robutekLibrary/Robutek-library/src/index.ts b/docs/robutekLibrary/Robutek-library/src/index.ts
index 5c69acf1..f66cccdf 100644
--- a/docs/robutekLibrary/Robutek-library/src/index.ts
+++ b/docs/robutekLibrary/Robutek-library/src/index.ts
@@ -1,21 +1,10 @@
-import * as Robot from "./libs/robot.js"
+import * as Robutek from "./libs/robutek.js"
 
-Robot.init()
+Robutek.init()
 
-Robot.strip.clear();
-Robot.strip.set(0, { r: 255, g: 0, b: 0 });
-Robot.strip.show();
+Robutek.strip.clear();
+Robutek.strip.set(0, { r: 255, g: 0, b: 0 });
+Robutek.strip.show();
 
-/*
-async function main() {
-    await Robot.RightMot.move({time:Infinity})
-    console.log("move");
-}
-main();
-
-setInterval(() => {
-    console.log(Robot.RightMot.getPosition());
-},   100);
-*/
 
 console.log("Robotický tábor 2024")
diff --git a/docs/robutekLibrary/Robutek-library/src/libs/robot.ts b/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
similarity index 65%
rename from docs/robutekLibrary/Robutek-library/src/libs/robot.ts
rename to docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
index 1f0a7f9a..2b72e543 100644
--- a/docs/robutekLibrary/Robutek-library/src/libs/robot.ts
+++ b/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
@@ -4,7 +4,7 @@ import * as gpio from "gpio";
 
 import { Servo } from "./servo.js";
 
-import { SmartLed, LED_WS2812, Rgb } from "smartled";
+import { SmartLed, LED_WS2812 } from "smartled";
 
 import * as motors from "motor"
 
@@ -14,19 +14,9 @@ const rightMotorPins: motors.MotorPins = { motA: 45, motB: 13, encA: 41, encB: 4
 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 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 });
 
-//const wheels = new motors.Wheels({ left: leftMotor, right: rightMotor, diameter: 20, width: 100 })
-
-/*
-
-import * as simplemotors from "./simplemotors.js"
-
-const LMOT = new simplemotors.Motor(11, 12, 1, 2, 3);
-const RMOT = new simplemotors.Motor(45, 13, 1, 4, 5);
-
-*/
 
 export function init() {
     adc.configure(LineSensors.S_1, adc.Attenuation.Db0);
@@ -46,70 +36,11 @@ type MoveDuration = {
     distance?: number; // distance in cm
     speed?: number; // speed in mm/s?
 }
-/*
-export async function move(curve: number, duration?: MoveDuration) {
-    // curve = -1 to 1
-
-    // Ensure the curve is between -1 and 1
-    if (curve < -1) curve = -1;
-    if (curve > 1) curve = 1;
-
-    if (duration.speed != undefined) {
-        // Just a temporary motor driver
-
-
-        // Calculate motor speeds
-        let m1: number;
-        let m2: number;
-
-        if (curve >= 0) {
-            // Curve from 0 to 1 (m1 is max, m2 decreases)
-            m1 = duration.speed;
-            m2 = duration.speed * (1 - curve);
-        } else {
-            // Curve from -1 to 0 (m2 is max, m1 decreases)
-            m1 = duration.speed * (1 + curve); // curve is negative, so this increases from 0 to speed
-            m2 = duration.speed;
-        }
-
-        LMOT.write(m1)
-        RMOT.write(m2)
-
-    }
-
-    //await wheels.move(curve, duration)
-}
-
-
-type RotateDuration = {
-    angle?: number; // angle in degrees
-    speed?: number; // speed in mm/s?
-}
-export function rotate(duration: RotateDuration) {
-    
-    if (duration.angle < 0) {
-        LMOT.write(duration.speed);
-        RMOT.write(-duration.speed);
-    } else {
-        LMOT.write(-duration.speed);
-        RMOT.write(duration.speed);
-    }
-    
-    //wheels.rotate(duration)
-}
-
-export function stop() {
-    LMOT.write(0);
-    RMOT.write(0);
-    
-    //wheels.stop()
-}
-*/
 
 
 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;
diff --git a/updates_robutek.sh b/updates_robutek.sh
index 13aa30e7..b9f84675 100755
--- a/updates_robutek.sh
+++ b/updates_robutek.sh
@@ -1,22 +1,20 @@
 #!/bin/bash
 
-# Tool for updating robutek.ts files in all repository
+# Tool for updating robutek.ts from lib to all folders from running location
 # Default location of robutek.ts is in docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
 
 ROBUTEK_FILE="robutek.ts"
-DEFAULT_ROBOTEK_PATH="docs/robutekLibrary/Robutek-library/src/libs/"$ROBUTEK_FILE
+DEFAULT_ROBOTEK_PATH="docs/robutekLibrary/Robutek-library/src/libs/$ROBUTEK_FILE"
 
-# Check if exist DEFAULT_ROBOTEK_PATH
+# Check if the default Robutek file exists
 if [ ! -f "$DEFAULT_ROBOTEK_PATH" ]; then
     echo "File $DEFAULT_ROBOTEK_PATH does not exist."
     exit 1
 fi
 
+echo "Updating robutek.ts in all repositories - replacing all files with the new one"
 
-echo "Updating robutek.ts in all repositories"
-# Find ROBOTEK_FILE in all repositories an replace it with DEFAULT_ROBOTEK_PATH
-for d in */ ; do
-    if [ -d "$d" ]; then
-        find $d -type f -name $ROBUTEK_FILE -exec echo "Updating $ROBUTEK_FILE in $d" \; -exec cp $DEFAULT_ROBOTEK_PATH $d$ROBUTEK_FILE \;
-    fi
-done
\ No newline at end of file
+# Find and replace all instances of robutek.ts
+find . -type f -name "$ROBUTEK_FILE" -exec cp "$DEFAULT_ROBOTEK_PATH" {} \;
+
+echo "Update completed."

From 6f465a717ce2ae6738aca0f6c4d79b1598ee530a Mon Sep 17 00:00:00 2001
From: c2coder <jansky.stepan08@gmail.com>
Date: Mon, 8 Jul 2024 13:38:17 +0200
Subject: [PATCH 09/14] Update example project

---
 docs/robot/lekce1/example1/@types/adc.d.ts    |  12 +-
 docs/robot/lekce1/example1/@types/gpio.d.ts   |  16 +-
 docs/robot/lekce1/example1/@types/gridui.d.ts | 321 ++++++++++++++++++
 .../lekce1/example1/@types/keyvalue.d.ts      |  61 ++++
 docs/robot/lekce1/example1/@types/motor.d.ts  |  82 +++++
 .../lekce1/example1/@types/pulseCounter.d.ts  |  64 ++++
 .../lekce1/example1/@types/timestamp.d.ts     |  11 +
 docs/robot/lekce1/example1/@types/wifi.d.ts   |   6 +
 docs/robot/lekce1/example1/src/index.ts       |  21 +-
 docs/robot/lekce1/example1/src/libs/colors.ts | 160 ++++-----
 .../lekce1/example1/src/libs/readline.ts      | 168 ++++-----
 .../robot/lekce1/example1/src/libs/robutek.ts | 139 ++++++++
 docs/robot/lekce1/example1/src/libs/servo.ts  |  68 ++--
 .../lekce1/example1/src/libs/simplemotors.ts  |  47 +++
 docs/robot/lekce1/example1/tsconfig.json      |  22 +-
 .../Robutek-library/src/index.ts              |  12 +-
 .../Robutek-library/src/libs/robutek.ts       |   2 +-
 17 files changed, 978 insertions(+), 234 deletions(-)
 create mode 100644 docs/robot/lekce1/example1/@types/gridui.d.ts
 create mode 100644 docs/robot/lekce1/example1/@types/keyvalue.d.ts
 create mode 100644 docs/robot/lekce1/example1/@types/motor.d.ts
 create mode 100644 docs/robot/lekce1/example1/@types/pulseCounter.d.ts
 create mode 100644 docs/robot/lekce1/example1/@types/timestamp.d.ts
 create mode 100644 docs/robot/lekce1/example1/@types/wifi.d.ts
 create mode 100644 docs/robot/lekce1/example1/src/libs/robutek.ts
 create mode 100644 docs/robot/lekce1/example1/src/libs/simplemotors.ts

diff --git a/docs/robot/lekce1/example1/@types/adc.d.ts b/docs/robot/lekce1/example1/@types/adc.d.ts
index d77e9d94..871de201 100644
--- a/docs/robot/lekce1/example1/@types/adc.d.ts
+++ b/docs/robot/lekce1/example1/@types/adc.d.ts
@@ -1,9 +1,19 @@
 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): void;
+    function configure(pin: number, attenuation?: Atten): void;
 
     /**
      * Read the value of the given pin.
diff --git a/docs/robot/lekce1/example1/@types/gpio.d.ts b/docs/robot/lekce1/example1/@types/gpio.d.ts
index 9c74419e..09c167db 100644
--- a/docs/robot/lekce1/example1/@types/gpio.d.ts
+++ b/docs/robot/lekce1/example1/@types/gpio.d.ts
@@ -1,12 +1,16 @@
 declare module "gpio" {
     const PinMode: {
-        DISABLE: number,
-        OUTPUT: number,
-        INPUT: number,
-        INPUT_PULLUP: number,
-        INPUT_PULLDOWN: number,
+        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.
@@ -34,7 +38,7 @@ declare module "gpio" {
      * @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: () => void): void;
+    function on(event: "rising" | "falling" | "change", pin: number, callback: (info: EventInfo) => void): void;
 
     /**
      * Remove event handler for the given pin.
diff --git a/docs/robot/lekce1/example1/@types/gridui.d.ts b/docs/robot/lekce1/example1/@types/gridui.d.ts
new file mode 100644
index 00000000..8ffaba74
--- /dev/null
+++ b/docs/robot/lekce1/example1/@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
+}
diff --git a/docs/robot/lekce1/example1/@types/keyvalue.d.ts b/docs/robot/lekce1/example1/@types/keyvalue.d.ts
new file mode 100644
index 00000000..761b09fb
--- /dev/null
+++ b/docs/robot/lekce1/example1/@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/example1/@types/motor.d.ts b/docs/robot/lekce1/example1/@types/motor.d.ts
new file mode 100644
index 00000000..2ec31392
--- /dev/null
+++ b/docs/robot/lekce1/example1/@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/example1/@types/pulseCounter.d.ts b/docs/robot/lekce1/example1/@types/pulseCounter.d.ts
new file mode 100644
index 00000000..76ad8edd
--- /dev/null
+++ b/docs/robot/lekce1/example1/@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/example1/@types/timestamp.d.ts b/docs/robot/lekce1/example1/@types/timestamp.d.ts
new file mode 100644
index 00000000..bd9ab6c8
--- /dev/null
+++ b/docs/robot/lekce1/example1/@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/example1/@types/wifi.d.ts b/docs/robot/lekce1/example1/@types/wifi.d.ts
new file mode 100644
index 00000000..7e532194
--- /dev/null
+++ b/docs/robot/lekce1/example1/@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/example1/src/index.ts b/docs/robot/lekce1/example1/src/index.ts
index b34b971a..203ed5d5 100644
--- a/docs/robot/lekce1/example1/src/index.ts
+++ b/docs/robot/lekce1/example1/src/index.ts
@@ -1,11 +1,10 @@
-import { SmartLed, LED_WS2812 } from "smartled";
-import * as colors from "./libs/colors.js"
-
-const ledStrip = new SmartLed(48, 1, LED_WS2812);  // připojí pásek na pin 48, s 1 ledkou a typem WS2812
-
-ledStrip.set(0, colors.green); // nastaví barvu LED na desce na zelenou, LED na pásku začínají od 1
-ledStrip.show(); // zobrazí nastavení na LED
-
-setInterval(() => { // pravidelně vyvolává událost
-    console.log("Robotický tábor 2024, zdraví Jirka Vácha!"); // vypíše text: Robotický tábor 2024, zdraví Jirka Vácha!
-}, 1000); // čas opakování se udává v milisekundách (1000 ms je 1 sekunda)
+import * as Robutek from "./libs/robutek.js"
+
+Robutek.init()
+
+Robutek.ledStrip.clear();
+Robutek.ledStrip.set(0, { r: 255, g: 0, b: 0 });
+Robutek.ledStrip.show();
+
+
+console.log("Robotický tábor 2024")
diff --git a/docs/robot/lekce1/example1/src/libs/colors.ts b/docs/robot/lekce1/example1/src/libs/colors.ts
index 3f06631f..de76a121 100644
--- a/docs/robot/lekce1/example1/src/libs/colors.ts
+++ b/docs/robot/lekce1/example1/src/libs/colors.ts
@@ -1,81 +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 };
+/**
+ * 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/example1/src/libs/readline.ts b/docs/robot/lekce1/example1/src/libs/readline.ts
index 0c2bf751..4372efd2 100644
--- a/docs/robot/lekce1/example1/src/libs/readline.ts
+++ b/docs/robot/lekce1/example1/src/libs/readline.ts
@@ -1,84 +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;
-    }
-}
+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/example1/src/libs/robutek.ts b/docs/robot/lekce1/example1/src/libs/robutek.ts
new file mode 100644
index 00000000..a6a934b1
--- /dev/null
+++ b/docs/robot/lekce1/example1/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/example1/src/libs/servo.ts b/docs/robot/lekce1/example1/src/libs/servo.ts
index ba0f7a14..ac4fe3ee 100644
--- a/docs/robot/lekce1/example1/src/libs/servo.ts
+++ b/docs/robot/lekce1/example1/src/libs/servo.ts
@@ -1,34 +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
-	}
-}
+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/example1/src/libs/simplemotors.ts b/docs/robot/lekce1/example1/src/libs/simplemotors.ts
new file mode 100644
index 00000000..c6f424cd
--- /dev/null
+++ b/docs/robot/lekce1/example1/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/example1/tsconfig.json b/docs/robot/lekce1/example1/tsconfig.json
index 98564f26..8cf82b10 100644
--- a/docs/robot/lekce1/example1/tsconfig.json
+++ b/docs/robot/lekce1/example1/tsconfig.json
@@ -1,11 +1,11 @@
-{
-    "compilerOptions": {
-        "target": "es2020",
-        "module": "es2020",
-        "lib": ["es2020"],
-        "moduleResolution": "node",
-        "sourceMap": false,
-        "outDir": "build",
-        "rootDir": "src",
-    }
-}
+{
+    "compilerOptions": {
+        "target": "es2020",
+        "module": "es2020",
+        "lib": ["es2020"],
+        "moduleResolution": "node",
+        "sourceMap": false,
+        "outDir": "build",
+        "rootDir": "src",
+    }
+}
diff --git a/docs/robutekLibrary/Robutek-library/src/index.ts b/docs/robutekLibrary/Robutek-library/src/index.ts
index f66cccdf..131e6b25 100644
--- a/docs/robutekLibrary/Robutek-library/src/index.ts
+++ b/docs/robutekLibrary/Robutek-library/src/index.ts
@@ -1,10 +1,10 @@
+import * as colors from "./libs/colors.js"
 import * as Robutek from "./libs/robutek.js"
 
-Robutek.init()
 
-Robutek.strip.clear();
-Robutek.strip.set(0, { r: 255, g: 0, b: 0 });
-Robutek.strip.show();
+Robutek.ledStrip.set(0, colors.green); // nastaví barvu LED na desce na zelenou, LED na pásku začínají od 1
+Robutek.ledStrip.show(); // zobrazí nastavení na LED
 
-
-console.log("Robotický tábor 2024")
+setInterval(() => { // pravidelně vyvolává událost
+    console.log("Robotický tábor 2024, zdraví Jirka Vácha!"); // vypíše text: Robotický tábor 2024, zdraví Jirka Vácha!
+}, 1000); // čas opakování se udává v milisekundách (1000 ms je 1 sekunda)
diff --git a/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts b/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
index 2b72e543..a6a934b1 100644
--- a/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
+++ b/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
@@ -123,7 +123,7 @@ export class Pen {
     }
 }
 
-export const strip = new SmartLed(48, 9, LED_WS2812);
+export const ledStrip = new SmartLed(48, 9, LED_WS2812);
 
 export class Pins {
     public static readonly Status_LED: number = 46;

From a37f43742b52944fe3a3cd92bd2766d7dffdf1e8 Mon Sep 17 00:00:00 2001
From: c2coder <jansky.stepan08@gmail.com>
Date: Mon, 8 Jul 2024 13:51:33 +0200
Subject: [PATCH 10/14] Update lib + fix lekce 1

---
 docs/robot/lekce1/example1/src/index.ts       |  13 +-
 docs/robot/lekce1/index.md                    |  14 +-
 .../@types/adc.d.ts                           |  12 +-
 .../@types/basicStream.d.ts                   |   0
 .../@types/fs.d.ts                            |   0
 .../@types/gpio.d.ts                          |  16 +-
 .../lekce2/black_project/@types/gridui.d.ts   | 321 ++++++++++++++++++
 .../@types/i2c.d.ts                           |   0
 .../lekce2/black_project/@types/keyvalue.d.ts |  61 ++++
 .../@types/ledc.d.ts                          |   0
 .../@types/misc.d.ts                          |   0
 .../lekce2/black_project/@types/motor.d.ts    |  82 +++++
 .../@types/path.d.ts                          |   0
 .../@types/platform.d.ts                      |   0
 .../black_project/@types/pulseCounter.d.ts    |  64 ++++
 .../@types/simpleradio.d.ts                   |   0
 .../@types/smartled.d.ts                      |   0
 .../@types/stdio.d.ts                         |   0
 .../@types/timers.d.ts                        |   0
 .../black_project/@types/timestamp.d.ts       |  11 +
 .../lekce2/black_project/@types/wifi.d.ts     |   6 +
 docs/robot/lekce2/black_project/src/index.ts  |  10 +
 .../src/libs/colors.ts                        | 160 ++++-----
 .../src/libs/readline.ts                      | 168 ++++-----
 .../lekce2/black_project/src/libs/robutek.ts  | 139 ++++++++
 .../src/libs/servo.ts                         |  68 ++--
 .../black_project/src/libs/simplemotors.ts    |  47 +++
 .../tsconfig.json                             |  22 +-
 docs/robot/lekce2/blank_project/src/index.ts  |   4 -
 .../Robutek-library/src/libs/robutek.ts       |   8 -
 30 files changed, 979 insertions(+), 247 deletions(-)
 rename docs/robot/lekce2/{blank_project => black_project}/@types/adc.d.ts (55%)
 rename docs/robot/lekce2/{blank_project => black_project}/@types/basicStream.d.ts (100%)
 rename docs/robot/lekce2/{blank_project => black_project}/@types/fs.d.ts (100%)
 rename docs/robot/lekce2/{blank_project => black_project}/@types/gpio.d.ts (79%)
 create mode 100644 docs/robot/lekce2/black_project/@types/gridui.d.ts
 rename docs/robot/lekce2/{blank_project => black_project}/@types/i2c.d.ts (100%)
 create mode 100644 docs/robot/lekce2/black_project/@types/keyvalue.d.ts
 rename docs/robot/lekce2/{blank_project => black_project}/@types/ledc.d.ts (100%)
 rename docs/robot/lekce2/{blank_project => black_project}/@types/misc.d.ts (100%)
 create mode 100644 docs/robot/lekce2/black_project/@types/motor.d.ts
 rename docs/robot/lekce2/{blank_project => black_project}/@types/path.d.ts (100%)
 rename docs/robot/lekce2/{blank_project => black_project}/@types/platform.d.ts (100%)
 create mode 100644 docs/robot/lekce2/black_project/@types/pulseCounter.d.ts
 rename docs/robot/lekce2/{blank_project => black_project}/@types/simpleradio.d.ts (100%)
 rename docs/robot/lekce2/{blank_project => black_project}/@types/smartled.d.ts (100%)
 rename docs/robot/lekce2/{blank_project => black_project}/@types/stdio.d.ts (100%)
 rename docs/robot/lekce2/{blank_project => black_project}/@types/timers.d.ts (100%)
 create mode 100644 docs/robot/lekce2/black_project/@types/timestamp.d.ts
 create mode 100644 docs/robot/lekce2/black_project/@types/wifi.d.ts
 create mode 100644 docs/robot/lekce2/black_project/src/index.ts
 rename docs/robot/lekce2/{blank_project => black_project}/src/libs/colors.ts (94%)
 rename docs/robot/lekce2/{blank_project => black_project}/src/libs/readline.ts (95%)
 create mode 100644 docs/robot/lekce2/black_project/src/libs/robutek.ts
 rename docs/robot/lekce2/{blank_project => black_project}/src/libs/servo.ts (96%)
 create mode 100644 docs/robot/lekce2/black_project/src/libs/simplemotors.ts
 rename docs/robot/lekce2/{blank_project => black_project}/tsconfig.json (95%)
 delete mode 100644 docs/robot/lekce2/blank_project/src/index.ts

diff --git a/docs/robot/lekce1/example1/src/index.ts b/docs/robot/lekce1/example1/src/index.ts
index 203ed5d5..cacfc134 100644
--- a/docs/robot/lekce1/example1/src/index.ts
+++ b/docs/robot/lekce1/example1/src/index.ts
@@ -1,10 +1,11 @@
 import * as Robutek from "./libs/robutek.js"
 
-Robutek.init()
+Robutek.init() // Zprovozní Robůtka
 
-Robutek.ledStrip.clear();
-Robutek.ledStrip.set(0, { r: 255, g: 0, b: 0 });
-Robutek.ledStrip.show();
+Robutek.ledStrip.clear(); // Zhasne LEDku na Robůtkovi, jenom pro jistotu, kdyby už předtím svítila
+Robutek.ledStrip.set(0, { r: 255, g: 0, b: 0 }); // Nastaví první LEDku na červenou barvu, LEDky začínají na indexu 0
+Robutek.ledStrip.show(); // Rozsvítí LEDku s červenou, kterou jsme si nastavili
 
-
-console.log("Robotický tábor 2024")
+setInterval(() => { // pravidelně vyvolává událost
+  console.log("Robotický tábor 2024, zdraví Jirka Vácha!"); // vypíše text: Robotický tábor 2024, zdraví Jirka Vácha!
+}, 1000); // čas opakování se udává v milisekundách (1000 ms je 1 sekunda)
\ No newline at end of file
diff --git a/docs/robot/lekce1/index.md b/docs/robot/lekce1/index.md
index 63804b99..b7c96522 100644
--- a/docs/robot/lekce1/index.md
+++ b/docs/robot/lekce1/index.md
@@ -194,7 +194,7 @@ Ve zdrojovém kódu jsou komentáře (`// tohle je komentář`), které nám pop
 	??? note "Řešení"
 		```ts
 		...
-		ledStrip.set(0, colors.red); // nastaví barvu LED na ESP32 na červenou
+		Robutek.ledStrip.set(0, colors.red); // nastaví barvu LED na ESP32 na červenou
 		...
 		```
 
@@ -210,15 +210,3 @@ Ve zdrojovém kódu jsou komentáře (`// tohle je komentář`), které nám pop
 		- `pink`
 		- `white`
 		- `off`
-
-5. Upravímes si číselné proměnné na pojmenované konstanty.
-
-	??? note "Pojmenované konstanty"
-		```ts
-		...
-		const LED_PIN = 48;
-		const LED_COUNT = 1;
-
-		const ledStrip = new SmartLed(LED_PIN, LED_COUNT, LED_WS2812);  // připojí pásek na pin 48, s 1 ledkou a typem WS2812
-		...
-		```
diff --git a/docs/robot/lekce2/blank_project/@types/adc.d.ts b/docs/robot/lekce2/black_project/@types/adc.d.ts
similarity index 55%
rename from docs/robot/lekce2/blank_project/@types/adc.d.ts
rename to docs/robot/lekce2/black_project/@types/adc.d.ts
index d77e9d94..871de201 100644
--- a/docs/robot/lekce2/blank_project/@types/adc.d.ts
+++ b/docs/robot/lekce2/black_project/@types/adc.d.ts
@@ -1,9 +1,19 @@
 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): void;
+    function configure(pin: number, attenuation?: Atten): void;
 
     /**
      * Read the value of the given pin.
diff --git a/docs/robot/lekce2/blank_project/@types/basicStream.d.ts b/docs/robot/lekce2/black_project/@types/basicStream.d.ts
similarity index 100%
rename from docs/robot/lekce2/blank_project/@types/basicStream.d.ts
rename to docs/robot/lekce2/black_project/@types/basicStream.d.ts
diff --git a/docs/robot/lekce2/blank_project/@types/fs.d.ts b/docs/robot/lekce2/black_project/@types/fs.d.ts
similarity index 100%
rename from docs/robot/lekce2/blank_project/@types/fs.d.ts
rename to docs/robot/lekce2/black_project/@types/fs.d.ts
diff --git a/docs/robot/lekce2/blank_project/@types/gpio.d.ts b/docs/robot/lekce2/black_project/@types/gpio.d.ts
similarity index 79%
rename from docs/robot/lekce2/blank_project/@types/gpio.d.ts
rename to docs/robot/lekce2/black_project/@types/gpio.d.ts
index 9c74419e..09c167db 100644
--- a/docs/robot/lekce2/blank_project/@types/gpio.d.ts
+++ b/docs/robot/lekce2/black_project/@types/gpio.d.ts
@@ -1,12 +1,16 @@
 declare module "gpio" {
     const PinMode: {
-        DISABLE: number,
-        OUTPUT: number,
-        INPUT: number,
-        INPUT_PULLUP: number,
-        INPUT_PULLDOWN: number,
+        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.
@@ -34,7 +38,7 @@ declare module "gpio" {
      * @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: () => void): void;
+    function on(event: "rising" | "falling" | "change", pin: number, callback: (info: EventInfo) => void): void;
 
     /**
      * Remove event handler for the given pin.
diff --git a/docs/robot/lekce2/black_project/@types/gridui.d.ts b/docs/robot/lekce2/black_project/@types/gridui.d.ts
new file mode 100644
index 00000000..8ffaba74
--- /dev/null
+++ b/docs/robot/lekce2/black_project/@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
+}
diff --git a/docs/robot/lekce2/blank_project/@types/i2c.d.ts b/docs/robot/lekce2/black_project/@types/i2c.d.ts
similarity index 100%
rename from docs/robot/lekce2/blank_project/@types/i2c.d.ts
rename to docs/robot/lekce2/black_project/@types/i2c.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/keyvalue.d.ts b/docs/robot/lekce2/black_project/@types/keyvalue.d.ts
new file mode 100644
index 00000000..761b09fb
--- /dev/null
+++ b/docs/robot/lekce2/black_project/@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/lekce2/blank_project/@types/ledc.d.ts b/docs/robot/lekce2/black_project/@types/ledc.d.ts
similarity index 100%
rename from docs/robot/lekce2/blank_project/@types/ledc.d.ts
rename to docs/robot/lekce2/black_project/@types/ledc.d.ts
diff --git a/docs/robot/lekce2/blank_project/@types/misc.d.ts b/docs/robot/lekce2/black_project/@types/misc.d.ts
similarity index 100%
rename from docs/robot/lekce2/blank_project/@types/misc.d.ts
rename to docs/robot/lekce2/black_project/@types/misc.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/motor.d.ts b/docs/robot/lekce2/black_project/@types/motor.d.ts
new file mode 100644
index 00000000..2ec31392
--- /dev/null
+++ b/docs/robot/lekce2/black_project/@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/lekce2/blank_project/@types/path.d.ts b/docs/robot/lekce2/black_project/@types/path.d.ts
similarity index 100%
rename from docs/robot/lekce2/blank_project/@types/path.d.ts
rename to docs/robot/lekce2/black_project/@types/path.d.ts
diff --git a/docs/robot/lekce2/blank_project/@types/platform.d.ts b/docs/robot/lekce2/black_project/@types/platform.d.ts
similarity index 100%
rename from docs/robot/lekce2/blank_project/@types/platform.d.ts
rename to docs/robot/lekce2/black_project/@types/platform.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/pulseCounter.d.ts b/docs/robot/lekce2/black_project/@types/pulseCounter.d.ts
new file mode 100644
index 00000000..76ad8edd
--- /dev/null
+++ b/docs/robot/lekce2/black_project/@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/lekce2/blank_project/@types/simpleradio.d.ts b/docs/robot/lekce2/black_project/@types/simpleradio.d.ts
similarity index 100%
rename from docs/robot/lekce2/blank_project/@types/simpleradio.d.ts
rename to docs/robot/lekce2/black_project/@types/simpleradio.d.ts
diff --git a/docs/robot/lekce2/blank_project/@types/smartled.d.ts b/docs/robot/lekce2/black_project/@types/smartled.d.ts
similarity index 100%
rename from docs/robot/lekce2/blank_project/@types/smartled.d.ts
rename to docs/robot/lekce2/black_project/@types/smartled.d.ts
diff --git a/docs/robot/lekce2/blank_project/@types/stdio.d.ts b/docs/robot/lekce2/black_project/@types/stdio.d.ts
similarity index 100%
rename from docs/robot/lekce2/blank_project/@types/stdio.d.ts
rename to docs/robot/lekce2/black_project/@types/stdio.d.ts
diff --git a/docs/robot/lekce2/blank_project/@types/timers.d.ts b/docs/robot/lekce2/black_project/@types/timers.d.ts
similarity index 100%
rename from docs/robot/lekce2/blank_project/@types/timers.d.ts
rename to docs/robot/lekce2/black_project/@types/timers.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/timestamp.d.ts b/docs/robot/lekce2/black_project/@types/timestamp.d.ts
new file mode 100644
index 00000000..bd9ab6c8
--- /dev/null
+++ b/docs/robot/lekce2/black_project/@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/lekce2/black_project/@types/wifi.d.ts b/docs/robot/lekce2/black_project/@types/wifi.d.ts
new file mode 100644
index 00000000..7e532194
--- /dev/null
+++ b/docs/robot/lekce2/black_project/@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/lekce2/black_project/src/index.ts b/docs/robot/lekce2/black_project/src/index.ts
new file mode 100644
index 00000000..131e6b25
--- /dev/null
+++ b/docs/robot/lekce2/black_project/src/index.ts
@@ -0,0 +1,10 @@
+import * as colors from "./libs/colors.js"
+import * as Robutek from "./libs/robutek.js"
+
+
+Robutek.ledStrip.set(0, colors.green); // nastaví barvu LED na desce na zelenou, LED na pásku začínají od 1
+Robutek.ledStrip.show(); // zobrazí nastavení na LED
+
+setInterval(() => { // pravidelně vyvolává událost
+    console.log("Robotický tábor 2024, zdraví Jirka Vácha!"); // vypíše text: Robotický tábor 2024, zdraví Jirka Vácha!
+}, 1000); // čas opakování se udává v milisekundách (1000 ms je 1 sekunda)
diff --git a/docs/robot/lekce2/blank_project/src/libs/colors.ts b/docs/robot/lekce2/black_project/src/libs/colors.ts
similarity index 94%
rename from docs/robot/lekce2/blank_project/src/libs/colors.ts
rename to docs/robot/lekce2/black_project/src/libs/colors.ts
index 950adfbe..de76a121 100644
--- a/docs/robot/lekce2/blank_project/src/libs/colors.ts
+++ b/docs/robot/lekce2/black_project/src/libs/colors.ts
@@ -1,81 +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 = 20) : 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 };
+/**
+ * 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/lekce2/blank_project/src/libs/readline.ts b/docs/robot/lekce2/black_project/src/libs/readline.ts
similarity index 95%
rename from docs/robot/lekce2/blank_project/src/libs/readline.ts
rename to docs/robot/lekce2/black_project/src/libs/readline.ts
index 0c2bf751..4372efd2 100644
--- a/docs/robot/lekce2/blank_project/src/libs/readline.ts
+++ b/docs/robot/lekce2/black_project/src/libs/readline.ts
@@ -1,84 +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;
-    }
-}
+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/lekce2/black_project/src/libs/robutek.ts b/docs/robot/lekce2/black_project/src/libs/robutek.ts
new file mode 100644
index 00000000..a6a934b1
--- /dev/null
+++ b/docs/robot/lekce2/black_project/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/lekce2/blank_project/src/libs/servo.ts b/docs/robot/lekce2/black_project/src/libs/servo.ts
similarity index 96%
rename from docs/robot/lekce2/blank_project/src/libs/servo.ts
rename to docs/robot/lekce2/black_project/src/libs/servo.ts
index ba0f7a14..ac4fe3ee 100644
--- a/docs/robot/lekce2/blank_project/src/libs/servo.ts
+++ b/docs/robot/lekce2/black_project/src/libs/servo.ts
@@ -1,34 +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
-	}
-}
+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/lekce2/black_project/src/libs/simplemotors.ts b/docs/robot/lekce2/black_project/src/libs/simplemotors.ts
new file mode 100644
index 00000000..c6f424cd
--- /dev/null
+++ b/docs/robot/lekce2/black_project/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/lekce2/blank_project/tsconfig.json b/docs/robot/lekce2/black_project/tsconfig.json
similarity index 95%
rename from docs/robot/lekce2/blank_project/tsconfig.json
rename to docs/robot/lekce2/black_project/tsconfig.json
index 98564f26..8cf82b10 100644
--- a/docs/robot/lekce2/blank_project/tsconfig.json
+++ b/docs/robot/lekce2/black_project/tsconfig.json
@@ -1,11 +1,11 @@
-{
-    "compilerOptions": {
-        "target": "es2020",
-        "module": "es2020",
-        "lib": ["es2020"],
-        "moduleResolution": "node",
-        "sourceMap": false,
-        "outDir": "build",
-        "rootDir": "src",
-    }
-}
+{
+    "compilerOptions": {
+        "target": "es2020",
+        "module": "es2020",
+        "lib": ["es2020"],
+        "moduleResolution": "node",
+        "sourceMap": false,
+        "outDir": "build",
+        "rootDir": "src",
+    }
+}
diff --git a/docs/robot/lekce2/blank_project/src/index.ts b/docs/robot/lekce2/blank_project/src/index.ts
deleted file mode 100644
index b4175ce0..00000000
--- a/docs/robot/lekce2/blank_project/src/index.ts
+++ /dev/null
@@ -1,4 +0,0 @@
-import { SmartLed, LED_WS2812 } from "smartled";
-import * as colors from "./libs/colors.js"
-import * as gpio from "gpio";
-
diff --git a/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts b/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
index a6a934b1..8e05f2bb 100644
--- a/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
+++ b/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
@@ -30,14 +30,6 @@ export function init() {
     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 {
 

From e10b66dc13b106b136196c13a09b10c3655c2710 Mon Sep 17 00:00:00 2001
From: c2coder <jansky.stepan08@gmail.com>
Date: Mon, 8 Jul 2024 14:29:46 +0200
Subject: [PATCH 11/14] Fix lekce 1-4

---
 .../robot/lekce1/example1/src/libs/robutek.ts |  21 +-
 docs/robot/lekce2/black_project/src/index.ts  |  10 -
 .../@types/adc.d.ts                           |   0
 .../@types/basicStream.d.ts                   |   0
 .../@types/fs.d.ts                            |   0
 .../@types/gpio.d.ts                          |   0
 .../@types/gridui.d.ts                        |   0
 .../@types/i2c.d.ts                           |   0
 .../@types/keyvalue.d.ts                      |   0
 .../@types/ledc.d.ts                          |   0
 .../@types/misc.d.ts                          |   0
 .../@types/motor.d.ts                         |   0
 .../@types/path.d.ts                          |   0
 .../@types/platform.d.ts                      |   0
 .../@types/pulseCounter.d.ts                  |   0
 .../@types/simpleradio.d.ts                   |   0
 .../@types/smartled.d.ts                      |   0
 .../@types/stdio.d.ts                         |   0
 .../@types/timers.d.ts                        |   0
 .../@types/timestamp.d.ts                     |   0
 .../@types/wifi.d.ts                          |   0
 docs/robot/lekce2/blank_project/src/index.ts  |   3 +
 .../src/libs/colors.ts                        |   0
 .../src/libs/readline.ts                      |   0
 .../src/libs/robutek.ts                       |  21 +-
 .../src/libs/servo.ts                         |   0
 .../src/libs/simplemotors.ts                  |   0
 .../tsconfig.json                             |   0
 docs/robot/lekce2/index.md                    |  33 +-
 docs/robot/lekce3/index.md                    |  60 ++--
 docs/robot/lekce3/project3/@types/adc.d.ts    |  12 +-
 docs/robot/lekce3/project3/@types/gpio.d.ts   |  16 +-
 docs/robot/lekce3/project3/@types/gridui.d.ts | 321 ++++++++++++++++++
 .../lekce3/project3/@types/keyvalue.d.ts      |  61 ++++
 docs/robot/lekce3/project3/@types/motor.d.ts  |  82 +++++
 .../lekce3/project3/@types/pulseCounter.d.ts  |  64 ++++
 .../lekce3/project3/@types/timestamp.d.ts     |  11 +
 docs/robot/lekce3/project3/@types/wifi.d.ts   |   6 +
 docs/robot/lekce3/project3/src/index.ts       |   6 +-
 docs/robot/lekce3/project3/src/libs/colors.ts | 160 ++++-----
 .../lekce3/project3/src/libs/readline.ts      |  84 +++++
 .../robot/lekce3/project3/src/libs/robutek.ts | 134 ++++++++
 docs/robot/lekce3/project3/src/libs/servo.ts  |  34 ++
 .../lekce3/project3/src/libs/simplemotors.ts  |  47 +++
 docs/robot/lekce3/project3/tsconfig.json      |  22 +-
 docs/robot/lekce4/project4/@types/adc.d.ts    |  12 +-
 docs/robot/lekce4/project4/@types/gpio.d.ts   |  16 +-
 docs/robot/lekce4/project4/@types/gridui.d.ts | 321 ++++++++++++++++++
 .../lekce4/project4/@types/keyvalue.d.ts      |  61 ++++
 docs/robot/lekce4/project4/@types/motor.d.ts  |  82 +++++
 .../lekce4/project4/@types/pulseCounter.d.ts  |  64 ++++
 .../lekce4/project4/@types/timestamp.d.ts     |  11 +
 docs/robot/lekce4/project4/@types/wifi.d.ts   |   6 +
 docs/robot/lekce4/project4/src/index.ts       |   9 +-
 docs/robot/lekce4/project4/src/libs/colors.ts | 160 ++++-----
 .../lekce4/project4/src/libs/readline.ts      |  84 +++++
 .../robot/lekce4/project4/src/libs/robutek.ts | 134 ++++++++
 docs/robot/lekce4/project4/src/libs/servo.ts  |  34 ++
 .../lekce4/project4/src/libs/simplemotors.ts  |  47 +++
 docs/robot/lekce4/project4/tsconfig.json      |  22 +-
 docs/robot/lekce5/turtle.md                   |  20 +-
 .../Robutek-library/src/index.ts              |   4 +
 .../Robutek-library/src/libs/robutek.ts       |  13 +-
 mkdocs.yml                                    |   1 +
 64 files changed, 1997 insertions(+), 312 deletions(-)
 delete mode 100644 docs/robot/lekce2/black_project/src/index.ts
 rename docs/robot/lekce2/{black_project => blank_project}/@types/adc.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/basicStream.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/fs.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/gpio.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/gridui.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/i2c.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/keyvalue.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/ledc.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/misc.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/motor.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/path.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/platform.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/pulseCounter.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/simpleradio.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/smartled.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/stdio.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/timers.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/timestamp.d.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/@types/wifi.d.ts (100%)
 create mode 100644 docs/robot/lekce2/blank_project/src/index.ts
 rename docs/robot/lekce2/{black_project => blank_project}/src/libs/colors.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/src/libs/readline.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/src/libs/robutek.ts (90%)
 rename docs/robot/lekce2/{black_project => blank_project}/src/libs/servo.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/src/libs/simplemotors.ts (100%)
 rename docs/robot/lekce2/{black_project => blank_project}/tsconfig.json (100%)
 create mode 100644 docs/robot/lekce3/project3/@types/gridui.d.ts
 create mode 100644 docs/robot/lekce3/project3/@types/keyvalue.d.ts
 create mode 100644 docs/robot/lekce3/project3/@types/motor.d.ts
 create mode 100644 docs/robot/lekce3/project3/@types/pulseCounter.d.ts
 create mode 100644 docs/robot/lekce3/project3/@types/timestamp.d.ts
 create mode 100644 docs/robot/lekce3/project3/@types/wifi.d.ts
 create mode 100644 docs/robot/lekce3/project3/src/libs/readline.ts
 create mode 100644 docs/robot/lekce3/project3/src/libs/robutek.ts
 create mode 100644 docs/robot/lekce3/project3/src/libs/servo.ts
 create mode 100644 docs/robot/lekce3/project3/src/libs/simplemotors.ts
 create mode 100644 docs/robot/lekce4/project4/@types/gridui.d.ts
 create mode 100644 docs/robot/lekce4/project4/@types/keyvalue.d.ts
 create mode 100644 docs/robot/lekce4/project4/@types/motor.d.ts
 create mode 100644 docs/robot/lekce4/project4/@types/pulseCounter.d.ts
 create mode 100644 docs/robot/lekce4/project4/@types/timestamp.d.ts
 create mode 100644 docs/robot/lekce4/project4/@types/wifi.d.ts
 create mode 100644 docs/robot/lekce4/project4/src/libs/readline.ts
 create mode 100644 docs/robot/lekce4/project4/src/libs/robutek.ts
 create mode 100644 docs/robot/lekce4/project4/src/libs/servo.ts
 create mode 100644 docs/robot/lekce4/project4/src/libs/simplemotors.ts

diff --git a/docs/robot/lekce1/example1/src/libs/robutek.ts b/docs/robot/lekce1/example1/src/libs/robutek.ts
index a6a934b1..5a143f46 100644
--- a/docs/robot/lekce1/example1/src/libs/robutek.ts
+++ b/docs/robot/lekce1/example1/src/libs/robutek.ts
@@ -7,15 +7,18 @@ import { Servo } from "./servo.js";
 import { SmartLed, LED_WS2812 } from "smartled";
 
 import * as motors from "motor"
+import * as ledc from "ledc";
+
+ledc.configureTimer(0, 64000, 10);
 
 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 rightMotorPins: motors.MotorPins = { motA: 45, motB: 13, encA: 42, encB: 41 }
 
-const leftMotorLedc: motors.LedcConfig = { timer: 1, channelA: 0, channelB: 1 }
-const rightMotorLedc: motors.LedcConfig = { timer: 1, channelA: 2, channelB: 3 }
+const leftMotorLedc: motors.LedcConfig = { timer: 0, channelA: 0, channelB: 1 }
+const rightMotorLedc: motors.LedcConfig = { timer: 0, 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 const LeftMot = new motors.Motor({ pins: leftMotorPins, ledc: leftMotorLedc, encTicks: 406, diameter: 34 });
+export const RightMot = new motors.Motor({ pins: rightMotorPins, ledc: rightMotorLedc, encTicks: 406, diameter: 34 });
 
 
 export function init() {
@@ -30,14 +33,6 @@ export function init() {
     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 {
 
diff --git a/docs/robot/lekce2/black_project/src/index.ts b/docs/robot/lekce2/black_project/src/index.ts
deleted file mode 100644
index 131e6b25..00000000
--- a/docs/robot/lekce2/black_project/src/index.ts
+++ /dev/null
@@ -1,10 +0,0 @@
-import * as colors from "./libs/colors.js"
-import * as Robutek from "./libs/robutek.js"
-
-
-Robutek.ledStrip.set(0, colors.green); // nastaví barvu LED na desce na zelenou, LED na pásku začínají od 1
-Robutek.ledStrip.show(); // zobrazí nastavení na LED
-
-setInterval(() => { // pravidelně vyvolává událost
-    console.log("Robotický tábor 2024, zdraví Jirka Vácha!"); // vypíše text: Robotický tábor 2024, zdraví Jirka Vácha!
-}, 1000); // čas opakování se udává v milisekundách (1000 ms je 1 sekunda)
diff --git a/docs/robot/lekce2/black_project/@types/adc.d.ts b/docs/robot/lekce2/blank_project/@types/adc.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/adc.d.ts
rename to docs/robot/lekce2/blank_project/@types/adc.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/basicStream.d.ts b/docs/robot/lekce2/blank_project/@types/basicStream.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/basicStream.d.ts
rename to docs/robot/lekce2/blank_project/@types/basicStream.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/fs.d.ts b/docs/robot/lekce2/blank_project/@types/fs.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/fs.d.ts
rename to docs/robot/lekce2/blank_project/@types/fs.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/gpio.d.ts b/docs/robot/lekce2/blank_project/@types/gpio.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/gpio.d.ts
rename to docs/robot/lekce2/blank_project/@types/gpio.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/gridui.d.ts b/docs/robot/lekce2/blank_project/@types/gridui.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/gridui.d.ts
rename to docs/robot/lekce2/blank_project/@types/gridui.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/i2c.d.ts b/docs/robot/lekce2/blank_project/@types/i2c.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/i2c.d.ts
rename to docs/robot/lekce2/blank_project/@types/i2c.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/keyvalue.d.ts b/docs/robot/lekce2/blank_project/@types/keyvalue.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/keyvalue.d.ts
rename to docs/robot/lekce2/blank_project/@types/keyvalue.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/ledc.d.ts b/docs/robot/lekce2/blank_project/@types/ledc.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/ledc.d.ts
rename to docs/robot/lekce2/blank_project/@types/ledc.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/misc.d.ts b/docs/robot/lekce2/blank_project/@types/misc.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/misc.d.ts
rename to docs/robot/lekce2/blank_project/@types/misc.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/motor.d.ts b/docs/robot/lekce2/blank_project/@types/motor.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/motor.d.ts
rename to docs/robot/lekce2/blank_project/@types/motor.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/path.d.ts b/docs/robot/lekce2/blank_project/@types/path.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/path.d.ts
rename to docs/robot/lekce2/blank_project/@types/path.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/platform.d.ts b/docs/robot/lekce2/blank_project/@types/platform.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/platform.d.ts
rename to docs/robot/lekce2/blank_project/@types/platform.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/pulseCounter.d.ts b/docs/robot/lekce2/blank_project/@types/pulseCounter.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/pulseCounter.d.ts
rename to docs/robot/lekce2/blank_project/@types/pulseCounter.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/simpleradio.d.ts b/docs/robot/lekce2/blank_project/@types/simpleradio.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/simpleradio.d.ts
rename to docs/robot/lekce2/blank_project/@types/simpleradio.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/smartled.d.ts b/docs/robot/lekce2/blank_project/@types/smartled.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/smartled.d.ts
rename to docs/robot/lekce2/blank_project/@types/smartled.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/stdio.d.ts b/docs/robot/lekce2/blank_project/@types/stdio.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/stdio.d.ts
rename to docs/robot/lekce2/blank_project/@types/stdio.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/timers.d.ts b/docs/robot/lekce2/blank_project/@types/timers.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/timers.d.ts
rename to docs/robot/lekce2/blank_project/@types/timers.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/timestamp.d.ts b/docs/robot/lekce2/blank_project/@types/timestamp.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/timestamp.d.ts
rename to docs/robot/lekce2/blank_project/@types/timestamp.d.ts
diff --git a/docs/robot/lekce2/black_project/@types/wifi.d.ts b/docs/robot/lekce2/blank_project/@types/wifi.d.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/@types/wifi.d.ts
rename to docs/robot/lekce2/blank_project/@types/wifi.d.ts
diff --git a/docs/robot/lekce2/blank_project/src/index.ts b/docs/robot/lekce2/blank_project/src/index.ts
new file mode 100644
index 00000000..ccb85e82
--- /dev/null
+++ b/docs/robot/lekce2/blank_project/src/index.ts
@@ -0,0 +1,3 @@
+import * as Robutek from "./libs/robutek.js"
+import * as colors from "./libs/colors.js"
+import * as gpio from "gpio"
\ No newline at end of file
diff --git a/docs/robot/lekce2/black_project/src/libs/colors.ts b/docs/robot/lekce2/blank_project/src/libs/colors.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/src/libs/colors.ts
rename to docs/robot/lekce2/blank_project/src/libs/colors.ts
diff --git a/docs/robot/lekce2/black_project/src/libs/readline.ts b/docs/robot/lekce2/blank_project/src/libs/readline.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/src/libs/readline.ts
rename to docs/robot/lekce2/blank_project/src/libs/readline.ts
diff --git a/docs/robot/lekce2/black_project/src/libs/robutek.ts b/docs/robot/lekce2/blank_project/src/libs/robutek.ts
similarity index 90%
rename from docs/robot/lekce2/black_project/src/libs/robutek.ts
rename to docs/robot/lekce2/blank_project/src/libs/robutek.ts
index a6a934b1..5a143f46 100644
--- a/docs/robot/lekce2/black_project/src/libs/robutek.ts
+++ b/docs/robot/lekce2/blank_project/src/libs/robutek.ts
@@ -7,15 +7,18 @@ import { Servo } from "./servo.js";
 import { SmartLed, LED_WS2812 } from "smartled";
 
 import * as motors from "motor"
+import * as ledc from "ledc";
+
+ledc.configureTimer(0, 64000, 10);
 
 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 rightMotorPins: motors.MotorPins = { motA: 45, motB: 13, encA: 42, encB: 41 }
 
-const leftMotorLedc: motors.LedcConfig = { timer: 1, channelA: 0, channelB: 1 }
-const rightMotorLedc: motors.LedcConfig = { timer: 1, channelA: 2, channelB: 3 }
+const leftMotorLedc: motors.LedcConfig = { timer: 0, channelA: 0, channelB: 1 }
+const rightMotorLedc: motors.LedcConfig = { timer: 0, 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 const LeftMot = new motors.Motor({ pins: leftMotorPins, ledc: leftMotorLedc, encTicks: 406, diameter: 34 });
+export const RightMot = new motors.Motor({ pins: rightMotorPins, ledc: rightMotorLedc, encTicks: 406, diameter: 34 });
 
 
 export function init() {
@@ -30,14 +33,6 @@ export function init() {
     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 {
 
diff --git a/docs/robot/lekce2/black_project/src/libs/servo.ts b/docs/robot/lekce2/blank_project/src/libs/servo.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/src/libs/servo.ts
rename to docs/robot/lekce2/blank_project/src/libs/servo.ts
diff --git a/docs/robot/lekce2/black_project/src/libs/simplemotors.ts b/docs/robot/lekce2/blank_project/src/libs/simplemotors.ts
similarity index 100%
rename from docs/robot/lekce2/black_project/src/libs/simplemotors.ts
rename to docs/robot/lekce2/blank_project/src/libs/simplemotors.ts
diff --git a/docs/robot/lekce2/black_project/tsconfig.json b/docs/robot/lekce2/blank_project/tsconfig.json
similarity index 100%
rename from docs/robot/lekce2/black_project/tsconfig.json
rename to docs/robot/lekce2/blank_project/tsconfig.json
diff --git a/docs/robot/lekce2/index.md b/docs/robot/lekce2/index.md
index 00e4d10f..5bad6a3d 100644
--- a/docs/robot/lekce2/index.md
+++ b/docs/robot/lekce2/index.md
@@ -12,24 +12,19 @@ nejzákladnější příkazy: i velice jednoduchý program už může mít vidit
 
 ## Zadání A
 
-Nejdříve si zopakujeme předchozí lekci, a rozsvítíme RGB LED na ESP32 (`GPIO 48`) jednou barvou (například červenou).
+Nejdříve si zopakujeme předchozí lekci, a rozsvítíme RGB LED na Robůtkovi (`GPIO 48`) jednou barvou (například červenou).
 
 Na začátku tohoto úkolu si stáhneme nový [zip](./blank_project.zip) soubor obsahující prázdný projekt. Po stažení složku rozbalíme a otevřeme ve Visual Studio Code. V souboru `index.ts` jsou připraveny `import` příkazy: ty nám umožní využívat funkcionalitu z různých souborů, např. jednoduše ovládat LEDku, nebo využívat nadefinované barvy.
 
-Abychom mohli LED u procesoru ovládat, musíme ji získat příkazem `#!ts const led = new SmartLed(...)`, a do závorky napíšeme číslo PINu, počet LED světel (zatím je to 1), a typ světla: `LED_WS2812`. Barvu LED nastavíme pomocí `led.set(0, colors.nějaká_barva)` a zobrazíme pomocí `led.show()`.
+Barvu LED nastavíme pomocí `Robutek.ledStrip.set(0, colors.nějaká_barva)` a zobrazíme pomocí `Robutek.ledStrip.show()`.
 
 ??? note "Řešení"
     ```ts
-    import { SmartLed, LED_WS2812 } from "smartled";
+    import * as Robutek from "./libs/robutek.js"
     import * as colors from "./libs/colors.js"
 
-    const LED_PIN = 48;
-    const LED_COUNT = 1;
-
-    const ledStrip = new SmartLed(LED_PIN, LED_COUNT, LED_WS2812);  // připojí pásek na pin 48, s 1 ledkou a typem WS2812
-
-    ledStrip.set(0, colors.red); // nastaví barvu nulté LED na červenou (RGB 255 0 0)
-    ledStrip.show(); // zobrazí nastavení na LED
+    Robutek.ledStrip.set(0, colors.red); // nastaví barvu nulté LED na červenou (RGB 255 0 0)
+    Robutek.ledStrip.show(); // zobrazí nastavení na LED
     ```
 
 ## Co je to událost v programování?
@@ -61,26 +56,22 @@ Pomocí událostí rozsvítíme při stisknutí tlačítka (GPIO 0) RGB LED na E
 
 ??? note "Řešení"
     ```ts
-    import * as gpio from "gpio";
-    import { SmartLed, LED_WS2812 } from "smartled";
+    import * as Robutek from "./libs/robutek.js"
     import * as colors from "./libs/colors.js"
+    import * as gpio from "gpio"
 
-    const LED_PIN = 48;
-    const LED_COUNT = 1;
     const BTN_RIGHT = 0;
 
-    const ledStrip = new SmartLed(LED_PIN, LED_COUNT, LED_WS2812);  // připojí pásek na pin 48, s 1 ledkou a typem WS2812
-
     gpio.pinMode(BTN_RIGHT, gpio.PinMode.INPUT); // nastaví pin 0 jako vstup
 
     gpio.on("falling", BTN_RIGHT, () => { // událost, která proběhne při stisknutí tlačítka připojeného na pin 0
-        ledStrip.set(0, colors.red); // nastaví barvu nulté LED na červenou (RGB 255 0 0)
-        ledStrip.show(); // zobrazí nastavení na LED
+        Robutek.ledStrip.set(0, colors.red); // nastaví barvu nulté LED na červenou (RGB 255 0 0)
+        Robutek.ledStrip.show(); // zobrazí nastavení na LED
     });
 
     gpio.on("rising", BTN_RIGHT, () => { // událost, která proběhne při puštění tlačítka připojeného na pin 0
-        ledStrip.set(0, colors.off); // nastaví nultou LED na zhasnutou (RGB 0 0 0)
-        ledStrip.show(); // zobrazí nastavení na LED
+        Robutek.ledStrip.set(0, colors.off); // nastaví nultou LED na zhasnutou (RGB 0 0 0)
+        Robutek.ledStrip.show(); // zobrazí nastavení na LED
     });
     ```
 
@@ -109,4 +100,4 @@ Při stisknutí tlačítka (GPIO 0) vypíšeme pozdrav.
 
 ## Výstupní úkol V2 - Změna barvy
 
-Při stisknutí tlačítka (GPIO 0) rozsvítíme RGB LED na ESP32 (`GPIO 48`) jednou barvou a při puštění barvu změníme na jinou.
+Při stisknutí tlačítka (GPIO 0) rozsvítíme RGB LED na Robůtkovi (`GPIO 48`) jednou barvou a při puštění barvu změníme na jinou.
diff --git a/docs/robot/lekce3/index.md b/docs/robot/lekce3/index.md
index 77a682d4..927e49b8 100644
--- a/docs/robot/lekce3/index.md
+++ b/docs/robot/lekce3/index.md
@@ -82,11 +82,11 @@ barev na maximum (hodnoty `(255, 255, 255)`).
 Druhou variantou je použití předdefinovaných barev, které jsou v souboru `colors.ts`. Příklad použití obou variant:
 
   ```ts
-  ledStrip.set(0, colors.off); // Vypne LEDku pomocí předdefinované barvy
-  ledStrip.set(0, {r: 0, g: 0, b: 0}); // Vypne LEDku pomocí vlastní barvy
+  Robutek.ledStrip.set(0, colors.off); // Vypne LEDku pomocí předdefinované barvy
+  Robutek.ledStrip.set(0, {r: 0, g: 0, b: 0}); // Vypne LEDku pomocí vlastní barvy
 
-  ledStrip.set(0, colors.green); // Rozsvítí LEDku zeleně pomocí předdefinované barvy
-  ledStrip.set(0, {r: 0, g: 255, b: 0}); // Rozsvítí LEDku zeleně pomocí vlastní barvy
+  Robutek.ledStrip.set(0, colors.green); // Rozsvítí LEDku zeleně pomocí předdefinované barvy
+  Robutek.ledStrip.set(0, {r: 0, g: 255, b: 0}); // Rozsvítí LEDku zeleně pomocí vlastní barvy
   ```
 
 Pro tuto lekci si stáhneme [zip](./project3.zip), nebo navážeme na předchozí cvičení. Své řešení budeme psát do souboru `index.ts`.
@@ -97,24 +97,18 @@ Pomocí jedné proměnné se stavem a podmínky každou sekundu buď rozsvítím
 
 ??? note "Řešení"
     ```ts
-    import { SmartLed, LED_WS2812 } from "smartled";
+    import * as Robutek from "./libs/robutek.js"
     import * as colors from "./libs/colors.js"
-
-    const LED_PIN = 48;
-    const LED_COUNT = 1;
-
-    const ledStrip = new SmartLed(LED_PIN, LED_COUNT, LED_WS2812);  // připojí pásek na pin 48, s 1 ledkou a typem WS2812
-
     let on: boolean = false; // LED je vypnutá
 
     setInterval(() => {
       if (on) { // Pokud je LED zapnutá
-        ledStrip.set(0, colors.off); // Vypneme LED
-        ledStrip.show(); // Zobrazíme změny
+        Robutek.ledStrip.set(0, colors.off); // Vypneme LED
+        Robutek.ledStrip.show(); // Zobrazíme změny
         on = false;
       } else {
-        ledStrip.set(0, colors.green); // Rozsvítíme LED zelenou barvou
-        ledStrip.show(); // Zobrazíme změny
+        Robutek.ledStrip.set(0, colors.green); // Rozsvítíme LED zelenou barvou
+        Robutek.ledStrip.show(); // Zobrazíme změny
         on = true
       }
     }, 1000);
@@ -128,19 +122,14 @@ opět nastavit na `0`.
 
 ??? note "Řešení"
     ```ts
-    import { SmartLed, LED_WS2812 } from "smartled";
+    import * as Robutek from "./libs/robutek.js"
     import * as colors from "./libs/colors.js"
 
-    const LED_PIN = 48;
-    const LED_COUNT = 1;
-
-    const ledStrip = new SmartLed(LED_PIN, LED_COUNT, LED_WS2812);  // připojí pásek na pin 48, s 1 ledkou a typem WS2812
-
     let shade = 0; // Držíme si stav s aktuálním odstínem
 
     setInterval(() => {
-        ledStrip.set(0, colors.rainbow(shade)); // Nastavíme LED na aktuální odstín
-        ledStrip.show(); // Zobrazíme vybranou barvu
+        Robutek.ledStrip.set(0, colors.rainbow(shade)); // Nastavíme LED na aktuální odstín
+        Robutek.ledStrip.show(); // Zobrazíme vybranou barvu
         shade = shade + 1; // Zvedneme odstín (lze i shade += 1)
         if (shade > 360) {
             shade = 0;
@@ -152,36 +141,35 @@ opět nastavit na `0`.
 
 Tentokrát budeme reagovat na stisk tlačítka.
 Do desky si zapojíme pásku 8 inteligentních ledek, a vybranou barvou je budeme rozsvěcet.
+
 Po stisku tlačítka zhasneme aktuální LEDku, a rozsvítíme tu další.
 Pokud při stisku tlačítka svítí poslední LED, zhasneme ji, a rozsvítíme opět první LED.
 
+!!! note "Led pásek je připojený za inteligentní ledku na desce, takže inde pásku začíná na 1"
+
 ??? note "Řešení"
     ```ts
-    import { SmartLed, Rgb, LED_WS2812 } from "smartled";
+    import * as Robutek from "./libs/robutek.js"
     import * as colors from "./libs/colors.js"
     import * as gpio from "gpio";
 
-    const LED_PIN = 21;
-    const LED_COUNT = 8;
-
     const BTN_PIN = 0;
 
     gpio.pinMode(BTN_PIN, gpio.PinMode.INPUT_PULLUP); // Nastavíme tlačítko
-    const ledStrip = new SmartLed(LED_PIN, LED_COUNT, LED_WS2812);  // připojí pásek na pin 21, s 8 ledkami a typem WS2812
 
-    let index : number = 0;
+    let index : number = 1;
     let color : Rgb = colors.light_blue; // Vybereme si barvu
-    ledStrip.set(0, color); // Nastavíme LED na aktuální odstín
-    ledStrip.show(); // Zobrazíme změny
+    Robutek.ledStrip.set(0, color); // Nastavíme LED na aktuální odstín
+    Robutek.ledStrip.show(); // Zobrazíme změny
 
     gpio.on("falling", BTN_PIN, () => {
-        ledStrip.set(index, colors.off); // Vypneme předchozí LED
+        Robutek.ledStrip.set(index, colors.off); // Vypneme předchozí LED
         index = index + 1; // Zvedneme index (lze i index += 1)
-        if(index > 7){ // Pokud jsme mimo rozsah pásku, vrátíme se na začátek
-            index = 0;
+        if(index > 8){ // Pokud jsme mimo rozsah pásku, vrátíme se na začátek
+            index = 1;
         }
-        ledStrip.set(index, color); // Nastavíme aktuální LED
-        ledStrip.show();  // Zobrazíme změny
+        Robutek.ledStrip.set(index, color); // Nastavíme aktuální LED
+        Robutek.ledStrip.show();  // Zobrazíme změny
     });
     ```
 
diff --git a/docs/robot/lekce3/project3/@types/adc.d.ts b/docs/robot/lekce3/project3/@types/adc.d.ts
index d77e9d94..871de201 100644
--- a/docs/robot/lekce3/project3/@types/adc.d.ts
+++ b/docs/robot/lekce3/project3/@types/adc.d.ts
@@ -1,9 +1,19 @@
 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): void;
+    function configure(pin: number, attenuation?: Atten): void;
 
     /**
      * Read the value of the given pin.
diff --git a/docs/robot/lekce3/project3/@types/gpio.d.ts b/docs/robot/lekce3/project3/@types/gpio.d.ts
index 9c74419e..09c167db 100644
--- a/docs/robot/lekce3/project3/@types/gpio.d.ts
+++ b/docs/robot/lekce3/project3/@types/gpio.d.ts
@@ -1,12 +1,16 @@
 declare module "gpio" {
     const PinMode: {
-        DISABLE: number,
-        OUTPUT: number,
-        INPUT: number,
-        INPUT_PULLUP: number,
-        INPUT_PULLDOWN: number,
+        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.
@@ -34,7 +38,7 @@ declare module "gpio" {
      * @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: () => void): void;
+    function on(event: "rising" | "falling" | "change", pin: number, callback: (info: EventInfo) => void): void;
 
     /**
      * Remove event handler for the given pin.
diff --git a/docs/robot/lekce3/project3/@types/gridui.d.ts b/docs/robot/lekce3/project3/@types/gridui.d.ts
new file mode 100644
index 00000000..8ffaba74
--- /dev/null
+++ b/docs/robot/lekce3/project3/@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
+}
diff --git a/docs/robot/lekce3/project3/@types/keyvalue.d.ts b/docs/robot/lekce3/project3/@types/keyvalue.d.ts
new file mode 100644
index 00000000..761b09fb
--- /dev/null
+++ b/docs/robot/lekce3/project3/@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/lekce3/project3/@types/motor.d.ts b/docs/robot/lekce3/project3/@types/motor.d.ts
new file mode 100644
index 00000000..2ec31392
--- /dev/null
+++ b/docs/robot/lekce3/project3/@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/lekce3/project3/@types/pulseCounter.d.ts b/docs/robot/lekce3/project3/@types/pulseCounter.d.ts
new file mode 100644
index 00000000..76ad8edd
--- /dev/null
+++ b/docs/robot/lekce3/project3/@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/lekce3/project3/@types/timestamp.d.ts b/docs/robot/lekce3/project3/@types/timestamp.d.ts
new file mode 100644
index 00000000..bd9ab6c8
--- /dev/null
+++ b/docs/robot/lekce3/project3/@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/lekce3/project3/@types/wifi.d.ts b/docs/robot/lekce3/project3/@types/wifi.d.ts
new file mode 100644
index 00000000..7e532194
--- /dev/null
+++ b/docs/robot/lekce3/project3/@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/lekce3/project3/src/index.ts b/docs/robot/lekce3/project3/src/index.ts
index fbea5f60..af790de1 100644
--- a/docs/robot/lekce3/project3/src/index.ts
+++ b/docs/robot/lekce3/project3/src/index.ts
@@ -1,4 +1,4 @@
-import { SmartLed, LED_WS2812 } from "smartled";
-import * as colors from "./libs/colors.js"
-
+import * as Robutek from "./libs/robutek.js"
+import * as colors from "./libs/colors.js"
+
 // Tady si napište své řešení
\ No newline at end of file
diff --git a/docs/robot/lekce3/project3/src/libs/colors.ts b/docs/robot/lekce3/project3/src/libs/colors.ts
index 950adfbe..de76a121 100644
--- a/docs/robot/lekce3/project3/src/libs/colors.ts
+++ b/docs/robot/lekce3/project3/src/libs/colors.ts
@@ -1,81 +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 = 20) : 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 };
+/**
+ * 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/lekce3/project3/src/libs/readline.ts b/docs/robot/lekce3/project3/src/libs/readline.ts
new file mode 100644
index 00000000..4372efd2
--- /dev/null
+++ b/docs/robot/lekce3/project3/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/lekce3/project3/src/libs/robutek.ts b/docs/robot/lekce3/project3/src/libs/robutek.ts
new file mode 100644
index 00000000..5a143f46
--- /dev/null
+++ b/docs/robot/lekce3/project3/src/libs/robutek.ts
@@ -0,0 +1,134 @@
+
+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"
+import * as ledc from "ledc";
+
+ledc.configureTimer(0, 64000, 10);
+
+const leftMotorPins: motors.MotorPins = { motA: 11, motB: 12, encA: 39, encB: 40 }
+const rightMotorPins: motors.MotorPins = { motA: 45, motB: 13, encA: 42, encB: 41 }
+
+const leftMotorLedc: motors.LedcConfig = { timer: 0, channelA: 0, channelB: 1 }
+const rightMotorLedc: motors.LedcConfig = { timer: 0, channelA: 2, channelB: 3 }
+
+export const LeftMot = new motors.Motor({ pins: leftMotorPins, ledc: leftMotorLedc, encTicks: 406, diameter: 34 });
+export const RightMot = new motors.Motor({ pins: rightMotorPins, ledc: rightMotorLedc, encTicks: 406, diameter: 34 });
+
+
+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);
+}
+
+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/lekce3/project3/src/libs/servo.ts b/docs/robot/lekce3/project3/src/libs/servo.ts
new file mode 100644
index 00000000..ac4fe3ee
--- /dev/null
+++ b/docs/robot/lekce3/project3/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/lekce3/project3/src/libs/simplemotors.ts b/docs/robot/lekce3/project3/src/libs/simplemotors.ts
new file mode 100644
index 00000000..c6f424cd
--- /dev/null
+++ b/docs/robot/lekce3/project3/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/lekce3/project3/tsconfig.json b/docs/robot/lekce3/project3/tsconfig.json
index 98564f26..8cf82b10 100644
--- a/docs/robot/lekce3/project3/tsconfig.json
+++ b/docs/robot/lekce3/project3/tsconfig.json
@@ -1,11 +1,11 @@
-{
-    "compilerOptions": {
-        "target": "es2020",
-        "module": "es2020",
-        "lib": ["es2020"],
-        "moduleResolution": "node",
-        "sourceMap": false,
-        "outDir": "build",
-        "rootDir": "src",
-    }
-}
+{
+    "compilerOptions": {
+        "target": "es2020",
+        "module": "es2020",
+        "lib": ["es2020"],
+        "moduleResolution": "node",
+        "sourceMap": false,
+        "outDir": "build",
+        "rootDir": "src",
+    }
+}
diff --git a/docs/robot/lekce4/project4/@types/adc.d.ts b/docs/robot/lekce4/project4/@types/adc.d.ts
index d77e9d94..871de201 100644
--- a/docs/robot/lekce4/project4/@types/adc.d.ts
+++ b/docs/robot/lekce4/project4/@types/adc.d.ts
@@ -1,9 +1,19 @@
 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): void;
+    function configure(pin: number, attenuation?: Atten): void;
 
     /**
      * Read the value of the given pin.
diff --git a/docs/robot/lekce4/project4/@types/gpio.d.ts b/docs/robot/lekce4/project4/@types/gpio.d.ts
index 9c74419e..09c167db 100644
--- a/docs/robot/lekce4/project4/@types/gpio.d.ts
+++ b/docs/robot/lekce4/project4/@types/gpio.d.ts
@@ -1,12 +1,16 @@
 declare module "gpio" {
     const PinMode: {
-        DISABLE: number,
-        OUTPUT: number,
-        INPUT: number,
-        INPUT_PULLUP: number,
-        INPUT_PULLDOWN: number,
+        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.
@@ -34,7 +38,7 @@ declare module "gpio" {
      * @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: () => void): void;
+    function on(event: "rising" | "falling" | "change", pin: number, callback: (info: EventInfo) => void): void;
 
     /**
      * Remove event handler for the given pin.
diff --git a/docs/robot/lekce4/project4/@types/gridui.d.ts b/docs/robot/lekce4/project4/@types/gridui.d.ts
new file mode 100644
index 00000000..8ffaba74
--- /dev/null
+++ b/docs/robot/lekce4/project4/@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
+}
diff --git a/docs/robot/lekce4/project4/@types/keyvalue.d.ts b/docs/robot/lekce4/project4/@types/keyvalue.d.ts
new file mode 100644
index 00000000..761b09fb
--- /dev/null
+++ b/docs/robot/lekce4/project4/@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/lekce4/project4/@types/motor.d.ts b/docs/robot/lekce4/project4/@types/motor.d.ts
new file mode 100644
index 00000000..2ec31392
--- /dev/null
+++ b/docs/robot/lekce4/project4/@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/lekce4/project4/@types/pulseCounter.d.ts b/docs/robot/lekce4/project4/@types/pulseCounter.d.ts
new file mode 100644
index 00000000..76ad8edd
--- /dev/null
+++ b/docs/robot/lekce4/project4/@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/lekce4/project4/@types/timestamp.d.ts b/docs/robot/lekce4/project4/@types/timestamp.d.ts
new file mode 100644
index 00000000..bd9ab6c8
--- /dev/null
+++ b/docs/robot/lekce4/project4/@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/lekce4/project4/@types/wifi.d.ts b/docs/robot/lekce4/project4/@types/wifi.d.ts
new file mode 100644
index 00000000..7e532194
--- /dev/null
+++ b/docs/robot/lekce4/project4/@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/lekce4/project4/src/index.ts b/docs/robot/lekce4/project4/src/index.ts
index 334dcd9b..17e83e36 100644
--- a/docs/robot/lekce4/project4/src/index.ts
+++ b/docs/robot/lekce4/project4/src/index.ts
@@ -1,6 +1,5 @@
-import { SmartLed, LED_WS2812 } from "smartled";
-import * as colors from "./libs/colors.js"
-import * as gpio from "gpio";
-import { stdout } from "stdio";
-
+import * as Robutek from "./libs/robutek.js"
+import * as colors from "./libs/colors.js"
+import { stdout } from "stdio"
+
 // Tady si napište své řešení
\ No newline at end of file
diff --git a/docs/robot/lekce4/project4/src/libs/colors.ts b/docs/robot/lekce4/project4/src/libs/colors.ts
index 950adfbe..de76a121 100644
--- a/docs/robot/lekce4/project4/src/libs/colors.ts
+++ b/docs/robot/lekce4/project4/src/libs/colors.ts
@@ -1,81 +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 = 20) : 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 };
+/**
+ * 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/lekce4/project4/src/libs/readline.ts b/docs/robot/lekce4/project4/src/libs/readline.ts
new file mode 100644
index 00000000..4372efd2
--- /dev/null
+++ b/docs/robot/lekce4/project4/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/lekce4/project4/src/libs/robutek.ts b/docs/robot/lekce4/project4/src/libs/robutek.ts
new file mode 100644
index 00000000..5a143f46
--- /dev/null
+++ b/docs/robot/lekce4/project4/src/libs/robutek.ts
@@ -0,0 +1,134 @@
+
+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"
+import * as ledc from "ledc";
+
+ledc.configureTimer(0, 64000, 10);
+
+const leftMotorPins: motors.MotorPins = { motA: 11, motB: 12, encA: 39, encB: 40 }
+const rightMotorPins: motors.MotorPins = { motA: 45, motB: 13, encA: 42, encB: 41 }
+
+const leftMotorLedc: motors.LedcConfig = { timer: 0, channelA: 0, channelB: 1 }
+const rightMotorLedc: motors.LedcConfig = { timer: 0, channelA: 2, channelB: 3 }
+
+export const LeftMot = new motors.Motor({ pins: leftMotorPins, ledc: leftMotorLedc, encTicks: 406, diameter: 34 });
+export const RightMot = new motors.Motor({ pins: rightMotorPins, ledc: rightMotorLedc, encTicks: 406, diameter: 34 });
+
+
+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);
+}
+
+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/lekce4/project4/src/libs/servo.ts b/docs/robot/lekce4/project4/src/libs/servo.ts
new file mode 100644
index 00000000..ac4fe3ee
--- /dev/null
+++ b/docs/robot/lekce4/project4/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/lekce4/project4/src/libs/simplemotors.ts b/docs/robot/lekce4/project4/src/libs/simplemotors.ts
new file mode 100644
index 00000000..c6f424cd
--- /dev/null
+++ b/docs/robot/lekce4/project4/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/lekce4/project4/tsconfig.json b/docs/robot/lekce4/project4/tsconfig.json
index 98564f26..8cf82b10 100644
--- a/docs/robot/lekce4/project4/tsconfig.json
+++ b/docs/robot/lekce4/project4/tsconfig.json
@@ -1,11 +1,11 @@
-{
-    "compilerOptions": {
-        "target": "es2020",
-        "module": "es2020",
-        "lib": ["es2020"],
-        "moduleResolution": "node",
-        "sourceMap": false,
-        "outDir": "build",
-        "rootDir": "src",
-    }
-}
+{
+    "compilerOptions": {
+        "target": "es2020",
+        "module": "es2020",
+        "lib": ["es2020"],
+        "moduleResolution": "node",
+        "sourceMap": false,
+        "outDir": "build",
+        "rootDir": "src",
+    }
+}
diff --git a/docs/robot/lekce5/turtle.md b/docs/robot/lekce5/turtle.md
index 4c76b6fd..eedfe25f 100644
--- a/docs/robot/lekce5/turtle.md
+++ b/docs/robot/lekce5/turtle.md
@@ -5,21 +5,21 @@ Z minulé lekce už umíme kreslit jednoduché tvary. Co když jich však chceme
 Pokud chceme nakreslit 2 čtverce vedle sebe, můžeme zkopírovat kód a mezitím se posunout:
 
 ```ts
-import * as motors from "motors"; // ovládání motorů
+import * as Robutek from "./libs/robutek.js"
 
 draw(true);
 for (let i: number = 0; i < 4; i++) { // chování opakujeme 4x, pro každou stěnu čtverce
-    motors.move(10); // posun dopředu o 10 cm
-    motors.rotate(90); // rotace doprava o 90 stupňů
+    Robutek.move(10); // posun dopředu o 10 cm
+    Robutek.rotate(90); // rotace doprava o 90 stupňů
 }
 draw(false);
 
-motors.move(15);
+Robutek.move(15);
 
 draw(true);
 for (let i: number = 0; i < 4; i++) {
-    motors.move(10);
-    motors.rotate(90);
+    Robutek.move(10);
+    Robutek.rotate(90);
 }
 draw(false);
 ``` 
@@ -30,16 +30,16 @@ Pokud bychom se pak rozhodli změnit např. velikost nakreslených čtverců, mu
 Můžeme si pomoct tím, co už známe: vnořeným `for` cyklem. Pokud chceme nakreslit např. 4 čtverce za sebou, můžeme to napsat takto:
 
 ```ts
-import * as motors from "motors"; // ovládání motorů
+import * as Robutek from "./libs/robutek.js"
 
 for (let square: number = 0; square < 4; square++) {
     draw(true);
     for (let i: number = 0; i < 4; i++) { // chování opakujeme 4x, pro každou stěnu čtverce
-        motors.move(10); // posun dopředu o 10 cm
-        motors.rotate(90); // rotace doprava o 90 stupňů
+        Robutek.move(10); // posun dopředu o 10 cm
+        Robutek.rotate(90); // rotace doprava o 90 stupňů
     }
     draw(false);
-    motors.move(15);
+    Robutek.move(15);
 }
 
 ```
diff --git a/docs/robutekLibrary/Robutek-library/src/index.ts b/docs/robutekLibrary/Robutek-library/src/index.ts
index 131e6b25..712f5dc3 100644
--- a/docs/robutekLibrary/Robutek-library/src/index.ts
+++ b/docs/robutekLibrary/Robutek-library/src/index.ts
@@ -1,10 +1,14 @@
 import * as colors from "./libs/colors.js"
 import * as Robutek from "./libs/robutek.js"
 
+Robutek.init();
 
 Robutek.ledStrip.set(0, colors.green); // nastaví barvu LED na desce na zelenou, LED na pásku začínají od 1
 Robutek.ledStrip.show(); // zobrazí nastavení na LED
 
+Robutek.LeftMot.setSpeed(100); // nastaví rychlost motoru na 100 RPM
+Robutek.LeftMot.move({distance: 100}); // posune motor na 100 ticků
+
 setInterval(() => { // pravidelně vyvolává událost
     console.log("Robotický tábor 2024, zdraví Jirka Vácha!"); // vypíše text: Robotický tábor 2024, zdraví Jirka Vácha!
 }, 1000); // čas opakování se udává v milisekundách (1000 ms je 1 sekunda)
diff --git a/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts b/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
index 8e05f2bb..5a143f46 100644
--- a/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
+++ b/docs/robutekLibrary/Robutek-library/src/libs/robutek.ts
@@ -7,15 +7,18 @@ import { Servo } from "./servo.js";
 import { SmartLed, LED_WS2812 } from "smartled";
 
 import * as motors from "motor"
+import * as ledc from "ledc";
+
+ledc.configureTimer(0, 64000, 10);
 
 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 rightMotorPins: motors.MotorPins = { motA: 45, motB: 13, encA: 42, encB: 41 }
 
-const leftMotorLedc: motors.LedcConfig = { timer: 1, channelA: 0, channelB: 1 }
-const rightMotorLedc: motors.LedcConfig = { timer: 1, channelA: 2, channelB: 3 }
+const leftMotorLedc: motors.LedcConfig = { timer: 0, channelA: 0, channelB: 1 }
+const rightMotorLedc: motors.LedcConfig = { timer: 0, 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 const LeftMot = new motors.Motor({ pins: leftMotorPins, ledc: leftMotorLedc, encTicks: 406, diameter: 34 });
+export const RightMot = new motors.Motor({ pins: rightMotorPins, ledc: rightMotorLedc, encTicks: 406, diameter: 34 });
 
 
 export function init() {
diff --git a/mkdocs.yml b/mkdocs.yml
index 78a1f6b6..116f1c79 100755
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -83,6 +83,7 @@ plugins:
   - zip_folders:
       folders:
         - robot/lekce1/example1
+        - robot/lekce2/blank_project
         - robot/lekce3/project3
         - robot/lekce4/project4
         - robot/lekce6/project6

From b03add9f43f9f428890d6eaf7f21540957e4aab4 Mon Sep 17 00:00:00 2001
From: Jakub Andrysek <jakub.andrysek03@gmail.com>
Date: Mon, 8 Jul 2024 14:31:17 +0200
Subject: [PATCH 12/14] Add gridui example

---
 .../lekce1/example-gridui/@types/adc.d.ts     |  24 ++
 .../example-gridui/@types/basicStream.d.ts    |  22 ++
 .../lekce1/example-gridui/@types/fs.d.ts      |  80 +++++
 .../lekce1/example-gridui/@types/gpio.d.ts    |  49 +++
 .../lekce1/example-gridui/@types/gridui.d.ts  | 321 ++++++++++++++++++
 .../lekce1/example-gridui/@types/i2c.d.ts     |  34 ++
 .../example-gridui/@types/keyvalue.d.ts       |  61 ++++
 .../lekce1/example-gridui/@types/ledc.d.ts    |  44 +++
 .../lekce1/example-gridui/@types/misc.d.ts    |   5 +
 .../lekce1/example-gridui/@types/motor.d.ts   |  82 +++++
 .../lekce1/example-gridui/@types/path.d.ts    |  36 ++
 .../example-gridui/@types/platform.d.ts       |   6 +
 .../example-gridui/@types/pulseCounter.d.ts   |  64 ++++
 .../example-gridui/@types/simpleradio.d.ts    |  84 +++++
 .../example-gridui/@types/smartled.d.ts       |  55 +++
 .../lekce1/example-gridui/@types/stdio.d.ts   |  13 +
 .../lekce1/example-gridui/@types/timers.d.ts  |  31 ++
 .../example-gridui/@types/timestamp.d.ts      |  11 +
 .../lekce1/example-gridui/@types/wifi.d.ts    |   6 +
 docs/robot/lekce1/example-gridui/src/index.ts |  76 +++++
 .../robot/lekce1/example-gridui/src/layout.ts |  88 +++++
 .../lekce1/example-gridui/src/libs/colors.ts  |  81 +++++
 .../example-gridui/src/libs/readline.ts       |  84 +++++
 .../lekce1/example-gridui/src/libs/robutek.ts | 139 ++++++++
 .../lekce1/example-gridui/src/libs/servo.ts   |  34 ++
 .../example-gridui/src/libs/simplemotors.ts   |  47 +++
 .../robot/lekce1/example-gridui/tsconfig.json |  11 +
 27 files changed, 1588 insertions(+)
 create mode 100644 docs/robot/lekce1/example-gridui/@types/adc.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/basicStream.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/fs.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/gpio.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/gridui.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/i2c.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/keyvalue.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/ledc.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/misc.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/motor.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/path.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/platform.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/pulseCounter.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/simpleradio.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/smartled.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/stdio.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/timers.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/timestamp.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/@types/wifi.d.ts
 create mode 100644 docs/robot/lekce1/example-gridui/src/index.ts
 create mode 100644 docs/robot/lekce1/example-gridui/src/layout.ts
 create mode 100644 docs/robot/lekce1/example-gridui/src/libs/colors.ts
 create mode 100644 docs/robot/lekce1/example-gridui/src/libs/readline.ts
 create mode 100644 docs/robot/lekce1/example-gridui/src/libs/robutek.ts
 create mode 100644 docs/robot/lekce1/example-gridui/src/libs/servo.ts
 create mode 100644 docs/robot/lekce1/example-gridui/src/libs/simplemotors.ts
 create mode 100644 docs/robot/lekce1/example-gridui/tsconfig.json

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",
+    }
+}

From da5c6654ffc746e1982a9f16f3503089c7c7c2e4 Mon Sep 17 00:00:00 2001
From: c2coder <jansky.stepan08@gmail.com>
Date: Mon, 8 Jul 2024 14:54:41 +0200
Subject: [PATCH 13/14] Add gridui docs

---
 docs/robot/lekce1/assets/add-wifi.png     | Bin 0 -> 21724 bytes
 docs/robot/lekce1/assets/connect-wifi.png | Bin 0 -> 21365 bytes
 docs/robot/lekce1/assets/wifi-passwd.png  | Bin 0 -> 21277 bytes
 docs/robot/lekce1/assets/wifi-ssid.png    | Bin 0 -> 8637 bytes
 docs/robot/lekce1/index.md                |  22 ++++++++++++++++++++++
 5 files changed, 22 insertions(+)
 create mode 100644 docs/robot/lekce1/assets/add-wifi.png
 create mode 100644 docs/robot/lekce1/assets/connect-wifi.png
 create mode 100644 docs/robot/lekce1/assets/wifi-passwd.png
 create mode 100644 docs/robot/lekce1/assets/wifi-ssid.png

diff --git a/docs/robot/lekce1/assets/add-wifi.png b/docs/robot/lekce1/assets/add-wifi.png
new file mode 100644
index 0000000000000000000000000000000000000000..1da617524817662453cdd1cbf8b7b03014603599
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literal 0
HcmV?d00001

diff --git a/docs/robot/lekce1/index.md b/docs/robot/lekce1/index.md
index b7c96522..94758866 100644
--- a/docs/robot/lekce1/index.md
+++ b/docs/robot/lekce1/index.md
@@ -210,3 +210,25 @@ Ve zdrojovém kódu jsou komentáře (`// tohle je komentář`), které nám pop
 		- `pink`
 		- `white`
 		- `off`
+
+
+## Ovládání robota přes mobil
+
+
+[Stáhnout ZIP s gridui examplem](./example-gridui.zip){ .md-button .md-button--primary }
+
+1. Musíme si stáhnou předpřipravený gridui ukázkový projekt, ten můžeme rovnou nahrát do Robůtka.
+
+2. Dole na liště klikneme na `Config WiFi`
+
+![](assets/add-wifi.png) <br>
+3. Vybere možnost `Add a WiFi network`
+
+![](assets/wifi-ssid.png) <br>
+4. Do pole zadejte název WiFi sítě.
+
+![](assets/wifi-passwd.png) <br>
+5. Dole v terminálu zadejte heslo WiFi sítě
+
+![](assets/connect-wifi.png) <br>
+6. Znovu klikneme na `Config WiFi` a vybereme `Set WiFI to Station mode (connect to wifi)`
\ No newline at end of file

From 56587a84826f1734b2e6222cdd171b9faecb97ae Mon Sep 17 00:00:00 2001
From: c2coder <jansky.stepan08@gmail.com>
Date: Mon, 8 Jul 2024 15:00:31 +0200
Subject: [PATCH 14/14] Add wifi name and password

---
 docs/robot/lekce1/index.md | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/docs/robot/lekce1/index.md b/docs/robot/lekce1/index.md
index 94758866..63ee1955 100644
--- a/docs/robot/lekce1/index.md
+++ b/docs/robot/lekce1/index.md
@@ -222,13 +222,13 @@ Ve zdrojovém kódu jsou komentáře (`// tohle je komentář`), které nám pop
 2. Dole na liště klikneme na `Config WiFi`
 
 ![](assets/add-wifi.png) <br>
-3. Vybere možnost `Add a WiFi network`
+3. Vyberte možnost `Add a WiFi network`
 
 ![](assets/wifi-ssid.png) <br>
-4. Do pole zadejte název WiFi sítě.
+4. Do pole zadejte název WiFi sítě `TechnikaNaVylete`
 
 ![](assets/wifi-passwd.png) <br>
-5. Dole v terminálu zadejte heslo WiFi sítě
+5. Dole v terminálu zadejte heslo WiFi sítě `huratabor`
 
 ![](assets/connect-wifi.png) <br>
 6. Znovu klikneme na `Config WiFi` a vybereme `Set WiFI to Station mode (connect to wifi)`
\ No newline at end of file