diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index dd6e871..2d11a16 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -21,10 +21,16 @@ jobs:
     runs-on: ${{ matrix.os }}
     steps:
       - uses: actions/checkout@v2
-      - name: Use Node.js 14
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10' 
+      - name: Use Node.js 21
         uses: actions/setup-node@v3
         with:
-          node-version: 16
+          node-version: 21
+      - name: Install setuptools
+        run: pip install setuptools
       - name: Install Packages
         run: npm install
       - name: Build
@@ -47,4 +53,4 @@ jobs:
         run: |
           gh release upload --clobber "${GITHUB_REF#refs/tags/}" dist/*/*
         env:
-          GITHUB_TOKEN: ${{ secrets.GH_TOKEN }}
\ No newline at end of file
+          GITHUB_TOKEN: ${{ secrets.GH_TOKEN }}
diff --git a/.gitignore b/.gitignore
index 8800630..b3b5b74 100644
--- a/.gitignore
+++ b/.gitignore
@@ -44,6 +44,8 @@ build/Release
 # Dependency directories
 node_modules/
 jspm_packages/
+.vs/
+.vscode/
 
 # Snowpack dependency directory (https://snowpack.dev/)
 web_modules/
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..e122dcf
--- /dev/null
+++ b/README.md
@@ -0,0 +1 @@
+This is an app for XRP Blockly stuff that has been modified by Team 5338 RoboLoco to actually work and support saving. 
diff --git a/app/electron/apis.js b/app/electron/apis.js
index 0b9ce94..5e61fce 100644
--- a/app/electron/apis.js
+++ b/app/electron/apis.js
@@ -1,6 +1,6 @@
 const { dialog } = require('electron');
 const path = require('path');
-const fs = require('fs');
+const fs = require('fs-extra');
 const drivelist = require('drivelist');
 
 /* List of all APIS */
@@ -16,8 +16,8 @@ global.share.ipcMain.handle('open-file', handleOpenFile);
 async function handleSaveCode(event, req) {
 	const appState = JSON.parse(fs.readFileSync(path.join(__dirname, "../state.json")));
 	if (appState.fullPath != "") {
-	  let filePath = path.join(appState.fullPath, req.filename);
-	  fs.writeFileSync(filePath, req.content);
+		let filePath = path.join(appState.fullPath, req.filename);
+		fs.writeFileSync(filePath, req.content);
 		return {
 			status: 200,
 			payload: path.basename(filePath, path.extname(filePath)),
@@ -61,15 +61,16 @@ async function handleSaveAsCode(event, req) {
 };
 
 // Uploads Code to robot
-async function handleUploadCode (event, code) {
+async function handleUploadCode(event, code) {
 	try {
 		let drives = await drivelist.list();
-	
+
 		let first_bot = drives.find(x => x.description.includes('Maker Pi RP2040'));
 		let first_bot_drive = first_bot.mountpoints[0].path;
 		let output_filepath = path.join(first_bot_drive, 'code.py');
+		let initLib = initializeCodeLibrary(first_bot_drive)
 		fs.writeFileSync(output_filepath, code);
-		
+
 		return {
 			status: 201,
 			message: "Code Uploaded"
@@ -80,8 +81,32 @@ async function handleUploadCode (event, code) {
 			message: `Internal Error: ${e}`
 		};
 	}
+
 };
 
+
+function initializeCodeLibrary(fpath) {
+	try {
+		const wpilibLoc = path.join(__dirname, "../lib/WPILib");
+		let output_filepath = path.join(fpath, 'WPILib');
+		fs.pathExists(output_filepath).then(exists => {
+			if (exists) {
+				return true
+			} else {
+				fs.copy(wpilibLoc, output_filepath).then(() => {
+					return true
+				})
+					.catch(err => {
+						console.error(err)
+					})
+			}
+		}
+		);
+	} catch (e) {
+		return false;
+	}
+}
+
 // Opens File
 async function handleOpenFile(event, req) {
 	const filePath = dialog.showOpenDialogSync({
@@ -93,7 +118,7 @@ async function handleOpenFile(event, req) {
 
 	if (filePath) {
 		let inputFile = fs.readFileSync(filePath[0], { encoding: 'utf8' });
-		
+
 		return {
 			status: 200,
 			payload: {
diff --git a/app/electron/main.js b/app/electron/main.js
index 0f9cc7e..786c72c 100644
--- a/app/electron/main.js
+++ b/app/electron/main.js
@@ -3,7 +3,7 @@
 // Modules to control application life and create native browser window
 const { app, BrowserWindow, ipcMain, dialog } = require('electron');
 const path = require('path');
-const fs = require('fs');
+const fs = require('fs-extra');
 const drivelist = require('drivelist');
 const { SerialPort } = require('serialport');
 var AsyncPolling = require('async-polling');
@@ -34,7 +34,8 @@ createWindow = () => {
   });
 
   // and load the index.html of the app.
-  mainWindow.loadFile('index.html')
+  // mainWindow.loadFile('../../index.html')
+  mainWindow.loadFile('../app/index.html')
   mainWindow.setMenu(null);
 
   // Open the DevTools.
@@ -48,6 +49,15 @@ var stoppingPorts = false;
 // This method will be called when Electron has finished
 // initialization and is ready to create browser windows.
 // Some APIs can only be used after this event occurs.
+fs.access(path.join(__dirname, "../state.json"), err => {
+  if (err) {
+  console.log('The file does not exist.');
+  fs.writeFile(path.join(__dirname, "../state.json"), JSON.stringify({"fullPath":""}), test);
+  }
+});
+function test(){
+  console.log("File Created");
+}
 app.whenReady().then(() => {
   ipcMain.handle('load-appstate', () => {
     return {
diff --git a/app/js/python-compressed.js b/app/js/python-compressed.js
index 55cacf1..47d48d2 100644
--- a/app/js/python-compressed.js
+++ b/app/js/python-compressed.js
@@ -2,106 +2,106 @@
 
 /* eslint-disable */
 ;(function(root, factory) {
-  if (typeof define === 'function' && define.amd) { // AMD
-    define(["./blockly_compressed.js"], factory);
-  } else if (typeof exports === 'object') { // Node.js
-    module.exports = factory(require("./blockly_compressed.js"));
-  } else { // Browser
-    var factoryExports = factory(root.Blockly);
-    root.Blockly.Python = factoryExports;
-  }
-}(this, function(__parent__) {
-var $=__parent__.__namespace__;
-var module$contents$Blockly$Python_Python=new $.module$exports$Blockly$Generator.Generator("Python");module$contents$Blockly$Python_Python.addReservedWords("False,None,True,and,as,assert,break,class,continue,def,del,elif,else,except,exec,finally,for,from,global,if,import,in,is,lambda,nonlocal,not,or,pass,print,raise,return,try,while,with,yield,NotImplemented,Ellipsis,__debug__,quit,exit,copyright,license,credits,ArithmeticError,AssertionError,AttributeError,BaseException,BlockingIOError,BrokenPipeError,BufferError,BytesWarning,ChildProcessError,ConnectionAbortedError,ConnectionError,ConnectionRefusedError,ConnectionResetError,DeprecationWarning,EOFError,Ellipsis,EnvironmentError,Exception,FileExistsError,FileNotFoundError,FloatingPointError,FutureWarning,GeneratorExit,IOError,ImportError,ImportWarning,IndentationError,IndexError,InterruptedError,IsADirectoryError,KeyError,KeyboardInterrupt,LookupError,MemoryError,ModuleNotFoundError,NameError,NotADirectoryError,NotImplemented,NotImplementedError,OSError,OverflowError,PendingDeprecationWarning,PermissionError,ProcessLookupError,RecursionError,ReferenceError,ResourceWarning,RuntimeError,RuntimeWarning,StandardError,StopAsyncIteration,StopIteration,SyntaxError,SyntaxWarning,SystemError,SystemExit,TabError,TimeoutError,TypeError,UnboundLocalError,UnicodeDecodeError,UnicodeEncodeError,UnicodeError,UnicodeTranslateError,UnicodeWarning,UserWarning,ValueError,Warning,ZeroDivisionError,_,__build_class__,__debug__,__doc__,__import__,__loader__,__name__,__package__,__spec__,abs,all,any,apply,ascii,basestring,bin,bool,buffer,bytearray,bytes,callable,chr,classmethod,cmp,coerce,compile,complex,copyright,credits,delattr,dict,dir,divmod,enumerate,eval,exec,execfile,exit,file,filter,float,format,frozenset,getattr,globals,hasattr,hash,help,hex,id,input,int,intern,isinstance,issubclass,iter,len,license,list,locals,long,map,max,memoryview,min,next,object,oct,open,ord,pow,print,property,quit,range,raw_input,reduce,reload,repr,reversed,round,set,setattr,slice,sorted,staticmethod,str,sum,super,tuple,type,unichr,unicode,vars,xrange,zip");
-module$contents$Blockly$Python_Python.ORDER_ATOMIC=0;module$contents$Blockly$Python_Python.ORDER_COLLECTION=1;module$contents$Blockly$Python_Python.ORDER_STRING_CONVERSION=1;module$contents$Blockly$Python_Python.ORDER_MEMBER=2.1;module$contents$Blockly$Python_Python.ORDER_FUNCTION_CALL=2.2;module$contents$Blockly$Python_Python.ORDER_EXPONENTIATION=3;module$contents$Blockly$Python_Python.ORDER_UNARY_SIGN=4;module$contents$Blockly$Python_Python.ORDER_BITWISE_NOT=4;
-module$contents$Blockly$Python_Python.ORDER_MULTIPLICATIVE=5;module$contents$Blockly$Python_Python.ORDER_ADDITIVE=6;module$contents$Blockly$Python_Python.ORDER_BITWISE_SHIFT=7;module$contents$Blockly$Python_Python.ORDER_BITWISE_AND=8;module$contents$Blockly$Python_Python.ORDER_BITWISE_XOR=9;module$contents$Blockly$Python_Python.ORDER_BITWISE_OR=10;module$contents$Blockly$Python_Python.ORDER_RELATIONAL=11;module$contents$Blockly$Python_Python.ORDER_LOGICAL_NOT=12;
-module$contents$Blockly$Python_Python.ORDER_LOGICAL_AND=13;module$contents$Blockly$Python_Python.ORDER_LOGICAL_OR=14;module$contents$Blockly$Python_Python.ORDER_CONDITIONAL=15;module$contents$Blockly$Python_Python.ORDER_LAMBDA=16;module$contents$Blockly$Python_Python.ORDER_NONE=99;
-module$contents$Blockly$Python_Python.ORDER_OVERRIDES=[[module$contents$Blockly$Python_Python.ORDER_FUNCTION_CALL,module$contents$Blockly$Python_Python.ORDER_MEMBER],[module$contents$Blockly$Python_Python.ORDER_FUNCTION_CALL,module$contents$Blockly$Python_Python.ORDER_FUNCTION_CALL],[module$contents$Blockly$Python_Python.ORDER_MEMBER,module$contents$Blockly$Python_Python.ORDER_MEMBER],[module$contents$Blockly$Python_Python.ORDER_MEMBER,module$contents$Blockly$Python_Python.ORDER_FUNCTION_CALL],[module$contents$Blockly$Python_Python.ORDER_LOGICAL_NOT,
-module$contents$Blockly$Python_Python.ORDER_LOGICAL_NOT],[module$contents$Blockly$Python_Python.ORDER_LOGICAL_AND,module$contents$Blockly$Python_Python.ORDER_LOGICAL_AND],[module$contents$Blockly$Python_Python.ORDER_LOGICAL_OR,module$contents$Blockly$Python_Python.ORDER_LOGICAL_OR]];module$contents$Blockly$Python_Python.isInitialized=!1;
-module$contents$Blockly$Python_Python.init=function(a){Object.getPrototypeOf(this).init.call(this);this.PASS=this.INDENT+"pass\n";this.nameDB_?this.nameDB_.reset():this.nameDB_=new $.module$exports$Blockly$Names.Names(this.RESERVED_WORDS_);this.nameDB_.setVariableMap(a.getVariableMap());this.nameDB_.populateVariables(a);this.nameDB_.populateProcedures(a);for(var b=[],c=(0,$.module$exports$Blockly$Variables.allDeveloperVariables)(a),d=0;d<c.length;d++)b.push(this.nameDB_.getName(c[d],$.module$exports$Blockly$Names.Names.DEVELOPER_VARIABLE_TYPE)+
-" = None");a=(0,$.module$exports$Blockly$Variables.allUsedVarModels)(a);for(c=0;c<a.length;c++)b.push(this.nameDB_.getName(a[c].getId(),$.module$exports$Blockly$Names.NameType.VARIABLE)+" = None");this.definitions_.variables=b.join("\n");this.isInitialized=!0};
-module$contents$Blockly$Python_Python.finish=function(a){var b=[],c=[],d;for(d in this.definitions_){var e=this.definitions_[d];e.match(/^(from\s+\S+\s+)?import\s+\S+/)?b.push(e):c.push(e)}a=Object.getPrototypeOf(this).finish.call(this,a);this.isInitialized=!1;this.nameDB_.reset();return(b.join("\n")+"\n\n"+c.join("\n\n")).replace(/\n\n+/g,"\n\n").replace(/\n*$/,"\n\n\n")+a};module$contents$Blockly$Python_Python.scrubNakedValue=function(a){return a+"\n"};
-module$contents$Blockly$Python_Python.quote_=function(a){a=a.replace(/\\/g,"\\\\").replace(/\n/g,"\\\n");var b="'";-1!==a.indexOf("'")&&(-1===a.indexOf('"')?b='"':a=a.replace(/'/g,"\\'"));return b+a+b};module$contents$Blockly$Python_Python.multiline_quote_=function(a){return a.split(/\n/g).map(this.quote_).join(" + '\\n' + \n")};
-module$contents$Blockly$Python_Python.scrub_=function(a,b,c){var d="";if(!a.outputConnection||!a.outputConnection.targetConnection){var e=a.getCommentText();e&&(e=(0,$.module$exports$Blockly$utils$string.wrap)(e,this.COMMENT_WRAP-3),d+=this.prefixLines(e+"\n","# "));for(var f=0;f<a.inputList.length;f++)a.inputList[f].type===$.module$exports$Blockly$inputTypes.inputTypes.VALUE&&(e=a.inputList[f].connection.targetBlock())&&(e=this.allNestedComments(e))&&(d+=this.prefixLines(e,"# "))}a=a.nextConnection&&
-a.nextConnection.targetBlock();c=c?"":this.blockToCode(a);return d+b+c};module$contents$Blockly$Python_Python.getAdjustedInt=function(a,b,c,d){c=c||0;a.workspace.options.oneBasedIndex&&c--;var e=a.workspace.options.oneBasedIndex?"1":"0";a=this.valueToCode(a,b,c?this.ORDER_ADDITIVE:this.ORDER_NONE)||e;(0,$.module$exports$Blockly$utils$string.isNumber)(a)?(a=parseInt(a,10)+c,d&&(a=-a)):(a=0<c?"int("+a+" + "+c+")":0>c?"int("+a+" - "+-c+")":"int("+a+")",d&&(a="-"+a));return a};$.Blockly.Python=module$contents$Blockly$Python_Python;var module$exports$Blockly$Python$variables={};$.Blockly.Python.variables_get=function(a){return[$.Blockly.Python.nameDB_.getName(a.getFieldValue("VAR"),$.module$exports$Blockly$Names.NameType.VARIABLE),$.Blockly.Python.ORDER_ATOMIC]};$.Blockly.Python.variables_set=function(a){var b=$.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_NONE)||"0";return $.Blockly.Python.nameDB_.getName(a.getFieldValue("VAR"),$.module$exports$Blockly$Names.NameType.VARIABLE)+" = "+b+"\n"};var module$exports$Blockly$Python$variablesDynamic={};$.Blockly.Python.variables_get_dynamic=$.Blockly.Python.variables_get;$.Blockly.Python.variables_set_dynamic=$.Blockly.Python.variables_set;var module$exports$Blockly$Python$texts={};$.Blockly.Python.text=function(a){return[$.Blockly.Python.quote_(a.getFieldValue("TEXT")),$.Blockly.Python.ORDER_ATOMIC]};$.Blockly.Python.text_multiline=function(a){a=$.Blockly.Python.multiline_quote_(a.getFieldValue("TEXT"));var b=-1!==a.indexOf("+")?$.Blockly.Python.ORDER_ADDITIVE:$.Blockly.Python.ORDER_ATOMIC;return[a,b]};
-var module$contents$Blockly$Python$texts_strRegExp=/^\s*'([^']|\\')*'\s*$/,module$contents$Blockly$Python$texts_forceString=function(a){return module$contents$Blockly$Python$texts_strRegExp.test(a)?[a,$.Blockly.Python.ORDER_ATOMIC]:["str("+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
-$.Blockly.Python.text_join=function(a){switch(a.itemCount_){case 0:return["''",$.Blockly.Python.ORDER_ATOMIC];case 1:return a=$.Blockly.Python.valueToCode(a,"ADD0",$.Blockly.Python.ORDER_NONE)||"''",module$contents$Blockly$Python$texts_forceString(a);case 2:var b=$.Blockly.Python.valueToCode(a,"ADD0",$.Blockly.Python.ORDER_NONE)||"''";a=$.Blockly.Python.valueToCode(a,"ADD1",$.Blockly.Python.ORDER_NONE)||"''";return[module$contents$Blockly$Python$texts_forceString(b)[0]+" + "+module$contents$Blockly$Python$texts_forceString(a)[0],
-$.Blockly.Python.ORDER_ADDITIVE];default:b=[];for(var c=0;c<a.itemCount_;c++)b[c]=$.Blockly.Python.valueToCode(a,"ADD"+c,$.Blockly.Python.ORDER_NONE)||"''";a=$.Blockly.Python.nameDB_.getDistinctName("x",$.module$exports$Blockly$Names.NameType.VARIABLE);return["''.join([str("+a+") for "+a+" in ["+b.join(", ")+"]])",$.Blockly.Python.ORDER_FUNCTION_CALL]}};
-$.Blockly.Python.text_append=function(a){var b=$.Blockly.Python.nameDB_.getName(a.getFieldValue("VAR"),$.module$exports$Blockly$Names.NameType.VARIABLE);a=$.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_NONE)||"''";return b+" = str("+b+") + "+module$contents$Blockly$Python$texts_forceString(a)[0]+"\n"};$.Blockly.Python.text_length=function(a){return["len("+($.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_NONE)||"''")+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
-$.Blockly.Python.text_isEmpty=function(a){return["not len("+($.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_NONE)||"''")+")",$.Blockly.Python.ORDER_LOGICAL_NOT]};
-$.Blockly.Python.text_indexOf=function(a){var b="FIRST"===a.getFieldValue("END")?"find":"rfind",c=$.Blockly.Python.valueToCode(a,"FIND",$.Blockly.Python.ORDER_NONE)||"''";b=($.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_MEMBER)||"''")+"."+b+"("+c+")";return a.workspace.options.oneBasedIndex?[b+" + 1",$.Blockly.Python.ORDER_ADDITIVE]:[b,$.Blockly.Python.ORDER_FUNCTION_CALL]};
-$.Blockly.Python.text_charAt=function(a){var b=a.getFieldValue("WHERE")||"FROM_START",c=$.Blockly.Python.valueToCode(a,"VALUE","RANDOM"===b?$.Blockly.Python.ORDER_NONE:$.Blockly.Python.ORDER_MEMBER)||"''";switch(b){case "FIRST":return[c+"[0]",$.Blockly.Python.ORDER_MEMBER];case "LAST":return[c+"[-1]",$.Blockly.Python.ORDER_MEMBER];case "FROM_START":return a=$.Blockly.Python.getAdjustedInt(a,"AT"),[c+"["+a+"]",$.Blockly.Python.ORDER_MEMBER];case "FROM_END":return a=$.Blockly.Python.getAdjustedInt(a,
-"AT",1,!0),[c+"["+a+"]",$.Blockly.Python.ORDER_MEMBER];case "RANDOM":return $.Blockly.Python.definitions_.import_random="import random",[$.Blockly.Python.provideFunction_("text_random_letter","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(text):\n  x = int(random.random() * len(text))\n  return text[x]\n")+"("+c+")",$.Blockly.Python.ORDER_FUNCTION_CALL]}throw Error("Unhandled option (text_charAt).");};
-$.Blockly.Python.text_getSubstring=function(a){var b=a.getFieldValue("WHERE1"),c=a.getFieldValue("WHERE2"),d=$.Blockly.Python.valueToCode(a,"STRING",$.Blockly.Python.ORDER_MEMBER)||"''";switch(b){case "FROM_START":b=$.Blockly.Python.getAdjustedInt(a,"AT1");0===b&&(b="");break;case "FROM_END":b=$.Blockly.Python.getAdjustedInt(a,"AT1",1,!0);break;case "FIRST":b="";break;default:throw Error("Unhandled option (text_getSubstring)");}switch(c){case "FROM_START":a=$.Blockly.Python.getAdjustedInt(a,"AT2",
-1);break;case "FROM_END":a=$.Blockly.Python.getAdjustedInt(a,"AT2",0,!0);(0,$.module$exports$Blockly$utils$string.isNumber)(String(a))?0===a&&(a=""):($.Blockly.Python.definitions_.import_sys="import sys",a+=" or sys.maxsize");break;case "LAST":a="";break;default:throw Error("Unhandled option (text_getSubstring)");}return[d+"["+b+" : "+a+"]",$.Blockly.Python.ORDER_MEMBER]};
-$.Blockly.Python.text_changeCase=function(a){var b={UPPERCASE:".upper()",LOWERCASE:".lower()",TITLECASE:".title()"}[a.getFieldValue("CASE")];return[($.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_MEMBER)||"''")+b,$.Blockly.Python.ORDER_FUNCTION_CALL]};$.Blockly.Python.text_trim=function(a){var b={LEFT:".lstrip()",RIGHT:".rstrip()",BOTH:".strip()"}[a.getFieldValue("MODE")];return[($.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_MEMBER)||"''")+b,$.Blockly.Python.ORDER_FUNCTION_CALL]};
-$.Blockly.Python.text_print=function(a){return"print("+($.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_NONE)||"''")+")\n"};
-$.Blockly.Python.text_prompt_ext=function(a){var b=$.Blockly.Python.provideFunction_("text_prompt","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(msg):\n  try:\n    return raw_input(msg)\n  except NameError:\n    return input(msg)\n");var c=a.getField("TEXT")?$.Blockly.Python.quote_(a.getFieldValue("TEXT")):$.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_NONE)||"''";b=b+"("+c+")";"NUMBER"===a.getFieldValue("TYPE")&&(b="float("+b+")");return[b,$.Blockly.Python.ORDER_FUNCTION_CALL]};
-$.Blockly.Python.text_prompt=$.Blockly.Python.text_prompt_ext;$.Blockly.Python.text_count=function(a){var b=$.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_MEMBER)||"''";a=$.Blockly.Python.valueToCode(a,"SUB",$.Blockly.Python.ORDER_NONE)||"''";return[b+".count("+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
-$.Blockly.Python.text_replace=function(a){var b=$.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_MEMBER)||"''",c=$.Blockly.Python.valueToCode(a,"FROM",$.Blockly.Python.ORDER_NONE)||"''";a=$.Blockly.Python.valueToCode(a,"TO",$.Blockly.Python.ORDER_NONE)||"''";return[b+".replace("+c+", "+a+")",$.Blockly.Python.ORDER_MEMBER]};$.Blockly.Python.text_reverse=function(a){return[($.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_MEMBER)||"''")+"[::-1]",$.Blockly.Python.ORDER_MEMBER]};var module$exports$Blockly$Python$procedures={};
-$.Blockly.Python.procedures_defreturn=function(a){for(var b=[],c=a.workspace,d=(0,$.module$exports$Blockly$Variables.allUsedVarModels)(c)||[],e=0,f;f=d[e];e++)f=f.name,-1===a.getVars().indexOf(f)&&b.push($.Blockly.Python.nameDB_.getName(f,$.module$exports$Blockly$Names.NameType.VARIABLE));c=(0,$.module$exports$Blockly$Variables.allDeveloperVariables)(c);for(d=0;d<c.length;d++)b.push($.Blockly.Python.nameDB_.getName(c[d],$.module$exports$Blockly$Names.NameType.DEVELOPER_VARIABLE));c=b.length?$.Blockly.Python.INDENT+
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-b)return[d+".pop("+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"===b)return d+".pop("+a+")\n";break;case "RANDOM":$.Blockly.Python.definitions_.import_random="import random";if("GET"===b)return["random.choice("+d+")",$.Blockly.Python.ORDER_FUNCTION_CALL];d=$.Blockly.Python.provideFunction_("lists_remove_random_item","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(myList):\n  x = int(random.random() * len(myList))\n  return myList.pop(x)\n")+"("+d+")";if("GET_REMOVE"===b)return[d,
-$.Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"===b)return d+"\n"}throw Error("Unhandled combination (lists_getIndex).");};
-$.Blockly.Python.lists_setIndex=function(a){var b=$.Blockly.Python.valueToCode(a,"LIST",$.Blockly.Python.ORDER_MEMBER)||"[]",c=a.getFieldValue("MODE")||"GET",d=a.getFieldValue("WHERE")||"FROM_START",e=$.Blockly.Python.valueToCode(a,"TO",$.Blockly.Python.ORDER_NONE)||"None";switch(d){case "FIRST":if("SET"===c)return b+"[0] = "+e+"\n";if("INSERT"===c)return b+".insert(0, "+e+")\n";break;case "LAST":if("SET"===c)return b+"[-1] = "+e+"\n";if("INSERT"===c)return b+".append("+e+")\n";break;case "FROM_START":a=
-$.Blockly.Python.getAdjustedInt(a,"AT");if("SET"===c)return b+"["+a+"] = "+e+"\n";if("INSERT"===c)return b+".insert("+a+", "+e+")\n";break;case "FROM_END":a=$.Blockly.Python.getAdjustedInt(a,"AT",1,!0);if("SET"===c)return b+"["+a+"] = "+e+"\n";if("INSERT"===c)return b+".insert("+a+", "+e+")\n";break;case "RANDOM":$.Blockly.Python.definitions_.import_random="import random";b.match(/^\w+$/)?a="":(a=$.Blockly.Python.nameDB_.getDistinctName("tmp_list",$.module$exports$Blockly$Names.NameType.VARIABLE),
-d=a+" = "+b+"\n",b=a,a=d);d=$.Blockly.Python.nameDB_.getDistinctName("tmp_x",$.module$exports$Blockly$Names.NameType.VARIABLE);a+=d+" = int(random.random() * len("+b+"))\n";if("SET"===c)return a+(b+"["+d+"] = "+e+"\n");if("INSERT"===c)return a+(b+".insert("+d+", "+e+")\n")}throw Error("Unhandled combination (lists_setIndex).");};
-$.Blockly.Python.lists_getSublist=function(a){var b=$.Blockly.Python.valueToCode(a,"LIST",$.Blockly.Python.ORDER_MEMBER)||"[]",c=a.getFieldValue("WHERE1"),d=a.getFieldValue("WHERE2");switch(c){case "FROM_START":c=$.Blockly.Python.getAdjustedInt(a,"AT1");0===c&&(c="");break;case "FROM_END":c=$.Blockly.Python.getAdjustedInt(a,"AT1",1,!0);break;case "FIRST":c="";break;default:throw Error("Unhandled option (lists_getSublist)");}switch(d){case "FROM_START":a=$.Blockly.Python.getAdjustedInt(a,"AT2",1);
-break;case "FROM_END":a=$.Blockly.Python.getAdjustedInt(a,"AT2",0,!0);(0,$.module$exports$Blockly$utils$string.isNumber)(String(a))?0===a&&(a=""):($.Blockly.Python.definitions_.import_sys="import sys",a+=" or sys.maxsize");break;case "LAST":a="";break;default:throw Error("Unhandled option (lists_getSublist)");}return[b+"["+c+" : "+a+"]",$.Blockly.Python.ORDER_MEMBER]};
-$.Blockly.Python.lists_sort=function(a){var b=$.Blockly.Python.valueToCode(a,"LIST",$.Blockly.Python.ORDER_NONE)||"[]",c=a.getFieldValue("TYPE");a="1"===a.getFieldValue("DIRECTION")?"False":"True";return[$.Blockly.Python.provideFunction_("lists_sort","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+'(my_list, type, reverse):\n  def try_float(s):\n    try:\n      return float(s)\n    except:\n      return 0\n  key_funcs = {\n    "NUMERIC": try_float,\n    "TEXT": str,\n    "IGNORE_CASE": lambda s: str(s).lower()\n  }\n  key_func = key_funcs[type]\n  list_cpy = list(my_list)\n  return sorted(list_cpy, key=key_func, reverse=reverse)\n')+
-"("+b+', "'+c+'", '+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
-$.Blockly.Python.lists_split=function(a){var b=a.getFieldValue("MODE");if("SPLIT"===b)b=$.Blockly.Python.valueToCode(a,"INPUT",$.Blockly.Python.ORDER_MEMBER)||"''",a=$.Blockly.Python.valueToCode(a,"DELIM",$.Blockly.Python.ORDER_NONE),a=b+".split("+a+")";else if("JOIN"===b)b=$.Blockly.Python.valueToCode(a,"INPUT",$.Blockly.Python.ORDER_NONE)||"[]",a=($.Blockly.Python.valueToCode(a,"DELIM",$.Blockly.Python.ORDER_MEMBER)||"''")+".join("+b+")";else throw Error("Unknown mode: "+b);return[a,$.Blockly.Python.ORDER_FUNCTION_CALL]};
-$.Blockly.Python.lists_reverse=function(a){return["list(reversed("+($.Blockly.Python.valueToCode(a,"LIST",$.Blockly.Python.ORDER_NONE)||"[]")+"))",$.Blockly.Python.ORDER_FUNCTION_CALL]};var module$exports$Blockly$Python$colour={};$.Blockly.Python.colour_picker=function(a){return[$.Blockly.Python.quote_(a.getFieldValue("COLOUR")),$.Blockly.Python.ORDER_ATOMIC]};$.Blockly.Python.colour_random=function(a){$.Blockly.Python.definitions_.import_random="import random";return["'#%06x' % random.randint(0, 2**24 - 1)",$.Blockly.Python.ORDER_FUNCTION_CALL]};
-$.Blockly.Python.colour_rgb=function(a){var b=$.Blockly.Python.provideFunction_("colour_rgb","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(r, g, b):\n  r = round(min(100, max(0, r)) * 2.55)\n  g = round(min(100, max(0, g)) * 2.55)\n  b = round(min(100, max(0, b)) * 2.55)\n  return '#%02x%02x%02x' % (r, g, b)\n"),c=$.Blockly.Python.valueToCode(a,"RED",$.Blockly.Python.ORDER_NONE)||0,d=$.Blockly.Python.valueToCode(a,"GREEN",$.Blockly.Python.ORDER_NONE)||0;a=$.Blockly.Python.valueToCode(a,"BLUE",
-$.Blockly.Python.ORDER_NONE)||0;return[b+"("+c+", "+d+", "+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
-$.Blockly.Python.colour_blend=function(a){var b=$.Blockly.Python.provideFunction_("colour_blend","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(colour1, colour2, ratio):\n  r1, r2 = int(colour1[1:3], 16), int(colour2[1:3], 16)\n  g1, g2 = int(colour1[3:5], 16), int(colour2[3:5], 16)\n  b1, b2 = int(colour1[5:7], 16), int(colour2[5:7], 16)\n  ratio = min(1, max(0, ratio))\n  r = round(r1 * (1 - ratio) + r2 * ratio)\n  g = round(g1 * (1 - ratio) + g2 * ratio)\n  b = round(b1 * (1 - ratio) + b2 * ratio)\n  return '#%02x%02x%02x' % (r, g, b)\n"),c=
-$.Blockly.Python.valueToCode(a,"COLOUR1",$.Blockly.Python.ORDER_NONE)||"'#000000'",d=$.Blockly.Python.valueToCode(a,"COLOUR2",$.Blockly.Python.ORDER_NONE)||"'#000000'";a=$.Blockly.Python.valueToCode(a,"RATIO",$.Blockly.Python.ORDER_NONE)||0;return[b+"("+c+", "+d+", "+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};var module$exports$Blockly$Python$all={};
-$.Blockly.Python.__namespace__=$;
-return $.Blockly.Python;
-}));
-
-
-//# sourceMappingURL=python_compressed.js.map
+    if (typeof define === 'function' && define.amd) { // AMD
+      define(["./blockly_compressed.js"], factory);
+    } else if (typeof exports === 'object') { // Node.js
+      module.exports = factory(require("./blockly_compressed.js"));
+    } else { // Browser
+      var factoryExports = factory(root.Blockly);
+      root.Blockly.Python = factoryExports;
+    }
+  }(this, function(__parent__) {
+  var $=__parent__.__namespace__;
+  var module$contents$Blockly$Python_Python=new $.module$exports$Blockly$Generator.Generator("Python");module$contents$Blockly$Python_Python.addReservedWords("False,None,True,and,as,assert,break,class,continue,def,del,elif,else,except,exec,finally,for,from,global,if,import,in,is,lambda,nonlocal,not,or,pass,print,raise,return,try,while,with,yield,NotImplemented,Ellipsis,__debug__,quit,exit,copyright,license,credits,ArithmeticError,AssertionError,AttributeError,BaseException,BlockingIOError,BrokenPipeError,BufferError,BytesWarning,ChildProcessError,ConnectionAbortedError,ConnectionError,ConnectionRefusedError,ConnectionResetError,DeprecationWarning,EOFError,Ellipsis,EnvironmentError,Exception,FileExistsError,FileNotFoundError,FloatingPointError,FutureWarning,GeneratorExit,IOError,ImportError,ImportWarning,IndentationError,IndexError,InterruptedError,IsADirectoryError,KeyError,KeyboardInterrupt,LookupError,MemoryError,ModuleNotFoundError,NameError,NotADirectoryError,NotImplemented,NotImplementedError,OSError,OverflowError,PendingDeprecationWarning,PermissionError,ProcessLookupError,RecursionError,ReferenceError,ResourceWarning,RuntimeError,RuntimeWarning,StandardError,StopAsyncIteration,StopIteration,SyntaxError,SyntaxWarning,SystemError,SystemExit,TabError,TimeoutError,TypeError,UnboundLocalError,UnicodeDecodeError,UnicodeEncodeError,UnicodeError,UnicodeTranslateError,UnicodeWarning,UserWarning,ValueError,Warning,ZeroDivisionError,_,__build_class__,__debug__,__doc__,__import__,__loader__,__name__,__package__,__spec__,abs,all,any,apply,ascii,basestring,bin,bool,buffer,bytearray,bytes,callable,chr,classmethod,cmp,coerce,compile,complex,copyright,credits,delattr,dict,dir,divmod,enumerate,eval,exec,execfile,exit,file,filter,float,format,frozenset,getattr,globals,hasattr,hash,help,hex,id,input,int,intern,isinstance,issubclass,iter,len,license,list,locals,long,map,max,memoryview,min,next,object,oct,open,ord,pow,print,property,quit,range,raw_input,reduce,reload,repr,reversed,round,set,setattr,slice,sorted,staticmethod,str,sum,super,tuple,type,unichr,unicode,vars,xrange,zip");
+  module$contents$Blockly$Python_Python.ORDER_ATOMIC=0;module$contents$Blockly$Python_Python.ORDER_COLLECTION=1;module$contents$Blockly$Python_Python.ORDER_STRING_CONVERSION=1;module$contents$Blockly$Python_Python.ORDER_MEMBER=2.1;module$contents$Blockly$Python_Python.ORDER_FUNCTION_CALL=2.2;module$contents$Blockly$Python_Python.ORDER_EXPONENTIATION=3;module$contents$Blockly$Python_Python.ORDER_UNARY_SIGN=4;module$contents$Blockly$Python_Python.ORDER_BITWISE_NOT=4;
+  module$contents$Blockly$Python_Python.ORDER_MULTIPLICATIVE=5;module$contents$Blockly$Python_Python.ORDER_ADDITIVE=6;module$contents$Blockly$Python_Python.ORDER_BITWISE_SHIFT=7;module$contents$Blockly$Python_Python.ORDER_BITWISE_AND=8;module$contents$Blockly$Python_Python.ORDER_BITWISE_XOR=9;module$contents$Blockly$Python_Python.ORDER_BITWISE_OR=10;module$contents$Blockly$Python_Python.ORDER_RELATIONAL=11;module$contents$Blockly$Python_Python.ORDER_LOGICAL_NOT=12;
+  module$contents$Blockly$Python_Python.ORDER_LOGICAL_AND=13;module$contents$Blockly$Python_Python.ORDER_LOGICAL_OR=14;module$contents$Blockly$Python_Python.ORDER_CONDITIONAL=15;module$contents$Blockly$Python_Python.ORDER_LAMBDA=16;module$contents$Blockly$Python_Python.ORDER_NONE=99;
+  module$contents$Blockly$Python_Python.ORDER_OVERRIDES=[[module$contents$Blockly$Python_Python.ORDER_FUNCTION_CALL,module$contents$Blockly$Python_Python.ORDER_MEMBER],[module$contents$Blockly$Python_Python.ORDER_FUNCTION_CALL,module$contents$Blockly$Python_Python.ORDER_FUNCTION_CALL],[module$contents$Blockly$Python_Python.ORDER_MEMBER,module$contents$Blockly$Python_Python.ORDER_MEMBER],[module$contents$Blockly$Python_Python.ORDER_MEMBER,module$contents$Blockly$Python_Python.ORDER_FUNCTION_CALL],[module$contents$Blockly$Python_Python.ORDER_LOGICAL_NOT,
+  module$contents$Blockly$Python_Python.ORDER_LOGICAL_NOT],[module$contents$Blockly$Python_Python.ORDER_LOGICAL_AND,module$contents$Blockly$Python_Python.ORDER_LOGICAL_AND],[module$contents$Blockly$Python_Python.ORDER_LOGICAL_OR,module$contents$Blockly$Python_Python.ORDER_LOGICAL_OR]];module$contents$Blockly$Python_Python.isInitialized=!1;
+  module$contents$Blockly$Python_Python.init=function(a){Object.getPrototypeOf(this).init.call(this);this.PASS=this.INDENT+"pass\n";this.nameDB_?this.nameDB_.reset():this.nameDB_=new $.module$exports$Blockly$Names.Names(this.RESERVED_WORDS_);this.nameDB_.setVariableMap(a.getVariableMap());this.nameDB_.populateVariables(a);this.nameDB_.populateProcedures(a);for(var b=[],c=(0,$.module$exports$Blockly$Variables.allDeveloperVariables)(a),d=0;d<c.length;d++)b.push(this.nameDB_.getName(c[d],$.module$exports$Blockly$Names.Names.DEVELOPER_VARIABLE_TYPE)+
+  " = None");a=(0,$.module$exports$Blockly$Variables.allUsedVarModels)(a);for(c=0;c<a.length;c++)b.push(this.nameDB_.getName(a[c].getId(),$.module$exports$Blockly$Names.NameType.VARIABLE)+" = None");this.definitions_.variables=b.join("\n");this.isInitialized=!0};
+  module$contents$Blockly$Python_Python.finish=function(a){var b=[],c=[],d;for(d in this.definitions_){var e=this.definitions_[d];e.match(/^(from\s+\S+\s+)?import\s+\S+/)?b.push(e):c.push(e)}a=Object.getPrototypeOf(this).finish.call(this,a);this.isInitialized=!1;this.nameDB_.reset();return(b.join("\n")+"\n\n"+c.join("\n\n")).replace(/\n\n+/g,"\n\n").replace(/\n*$/,"\n\n\n")+a};module$contents$Blockly$Python_Python.scrubNakedValue=function(a){return a+"\n"};
+  module$contents$Blockly$Python_Python.quote_=function(a){a=a.replace(/\\/g,"\\\\").replace(/\n/g,"\\\n");var b="'";-1!==a.indexOf("'")&&(-1===a.indexOf('"')?b='"':a=a.replace(/'/g,"\\'"));return b+a+b};module$contents$Blockly$Python_Python.multiline_quote_=function(a){return a.split(/\n/g).map(this.quote_).join(" + '\\n' + \n")};
+  module$contents$Blockly$Python_Python.scrub_=function(a,b,c){var d="";if(!a.outputConnection||!a.outputConnection.targetConnection){var e=a.getCommentText();e&&(e=(0,$.module$exports$Blockly$utils$string.wrap)(e,this.COMMENT_WRAP-3),d+=this.prefixLines(e+"\n","# "));for(var f=0;f<a.inputList.length;f++)a.inputList[f].type===$.module$exports$Blockly$inputTypes.inputTypes.VALUE&&(e=a.inputList[f].connection.targetBlock())&&(e=this.allNestedComments(e))&&(d+=this.prefixLines(e,"# "))}a=a.nextConnection&&
+  a.nextConnection.targetBlock();c=c?"":this.blockToCode(a);return d+b+c};module$contents$Blockly$Python_Python.getAdjustedInt=function(a,b,c,d){c=c||0;a.workspace.options.oneBasedIndex&&c--;var e=a.workspace.options.oneBasedIndex?"1":"0";a=this.valueToCode(a,b,c?this.ORDER_ADDITIVE:this.ORDER_NONE)||e;(0,$.module$exports$Blockly$utils$string.isNumber)(a)?(a=parseInt(a,10)+c,d&&(a=-a)):(a=0<c?"int("+a+" + "+c+")":0>c?"int("+a+" - "+-c+")":"int("+a+")",d&&(a="-"+a));return a};$.Blockly.Python=module$contents$Blockly$Python_Python;var module$exports$Blockly$Python$variables={};$.Blockly.Python.variables_get=function(a){return[$.Blockly.Python.nameDB_.getName(a.getFieldValue("VAR"),$.module$exports$Blockly$Names.NameType.VARIABLE),$.Blockly.Python.ORDER_ATOMIC]};$.Blockly.Python.variables_set=function(a){var b=$.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_NONE)||"0";return $.Blockly.Python.nameDB_.getName(a.getFieldValue("VAR"),$.module$exports$Blockly$Names.NameType.VARIABLE)+" = "+b+"\n"};var module$exports$Blockly$Python$variablesDynamic={};$.Blockly.Python.variables_get_dynamic=$.Blockly.Python.variables_get;$.Blockly.Python.variables_set_dynamic=$.Blockly.Python.variables_set;var module$exports$Blockly$Python$texts={};$.Blockly.Python.text=function(a){return[$.Blockly.Python.quote_(a.getFieldValue("TEXT")),$.Blockly.Python.ORDER_ATOMIC]};$.Blockly.Python.text_multiline=function(a){a=$.Blockly.Python.multiline_quote_(a.getFieldValue("TEXT"));var b=-1!==a.indexOf("+")?$.Blockly.Python.ORDER_ADDITIVE:$.Blockly.Python.ORDER_ATOMIC;return[a,b]};
+  var module$contents$Blockly$Python$texts_strRegExp=/^\s*'([^']|\\')*'\s*$/,module$contents$Blockly$Python$texts_forceString=function(a){return module$contents$Blockly$Python$texts_strRegExp.test(a)?[a,$.Blockly.Python.ORDER_ATOMIC]:["str("+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.text_join=function(a){switch(a.itemCount_){case 0:return["''",$.Blockly.Python.ORDER_ATOMIC];case 1:return a=$.Blockly.Python.valueToCode(a,"ADD0",$.Blockly.Python.ORDER_NONE)||"''",module$contents$Blockly$Python$texts_forceString(a);case 2:var b=$.Blockly.Python.valueToCode(a,"ADD0",$.Blockly.Python.ORDER_NONE)||"''";a=$.Blockly.Python.valueToCode(a,"ADD1",$.Blockly.Python.ORDER_NONE)||"''";return[module$contents$Blockly$Python$texts_forceString(b)[0]+" + "+module$contents$Blockly$Python$texts_forceString(a)[0],
+  $.Blockly.Python.ORDER_ADDITIVE];default:b=[];for(var c=0;c<a.itemCount_;c++)b[c]=$.Blockly.Python.valueToCode(a,"ADD"+c,$.Blockly.Python.ORDER_NONE)||"''";a=$.Blockly.Python.nameDB_.getDistinctName("x",$.module$exports$Blockly$Names.NameType.VARIABLE);return["''.join([str("+a+") for "+a+" in ["+b.join(", ")+"]])",$.Blockly.Python.ORDER_FUNCTION_CALL]}};
+  $.Blockly.Python.text_append=function(a){var b=$.Blockly.Python.nameDB_.getName(a.getFieldValue("VAR"),$.module$exports$Blockly$Names.NameType.VARIABLE);a=$.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_NONE)||"''";return b+" = str("+b+") + "+module$contents$Blockly$Python$texts_forceString(a)[0]+"\n"};$.Blockly.Python.text_length=function(a){return["len("+($.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_NONE)||"''")+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.text_isEmpty=function(a){return["not len("+($.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_NONE)||"''")+")",$.Blockly.Python.ORDER_LOGICAL_NOT]};
+  $.Blockly.Python.text_indexOf=function(a){var b="FIRST"===a.getFieldValue("END")?"find":"rfind",c=$.Blockly.Python.valueToCode(a,"FIND",$.Blockly.Python.ORDER_NONE)||"''";b=($.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_MEMBER)||"''")+"."+b+"("+c+")";return a.workspace.options.oneBasedIndex?[b+" + 1",$.Blockly.Python.ORDER_ADDITIVE]:[b,$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.text_charAt=function(a){var b=a.getFieldValue("WHERE")||"FROM_START",c=$.Blockly.Python.valueToCode(a,"VALUE","RANDOM"===b?$.Blockly.Python.ORDER_NONE:$.Blockly.Python.ORDER_MEMBER)||"''";switch(b){case "FIRST":return[c+"[0]",$.Blockly.Python.ORDER_MEMBER];case "LAST":return[c+"[-1]",$.Blockly.Python.ORDER_MEMBER];case "FROM_START":return a=$.Blockly.Python.getAdjustedInt(a,"AT"),[c+"["+a+"]",$.Blockly.Python.ORDER_MEMBER];case "FROM_END":return a=$.Blockly.Python.getAdjustedInt(a,
+  "AT",1,!0),[c+"["+a+"]",$.Blockly.Python.ORDER_MEMBER];case "RANDOM":return $.Blockly.Python.definitions_.import_random="import random",[$.Blockly.Python.provideFunction_("text_random_letter","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(text):\n  x = int(random.random() * len(text))\n  return text[x]\n")+"("+c+")",$.Blockly.Python.ORDER_FUNCTION_CALL]}throw Error("Unhandled option (text_charAt).");};
+  $.Blockly.Python.text_getSubstring=function(a){var b=a.getFieldValue("WHERE1"),c=a.getFieldValue("WHERE2"),d=$.Blockly.Python.valueToCode(a,"STRING",$.Blockly.Python.ORDER_MEMBER)||"''";switch(b){case "FROM_START":b=$.Blockly.Python.getAdjustedInt(a,"AT1");0===b&&(b="");break;case "FROM_END":b=$.Blockly.Python.getAdjustedInt(a,"AT1",1,!0);break;case "FIRST":b="";break;default:throw Error("Unhandled option (text_getSubstring)");}switch(c){case "FROM_START":a=$.Blockly.Python.getAdjustedInt(a,"AT2",
+  1);break;case "FROM_END":a=$.Blockly.Python.getAdjustedInt(a,"AT2",0,!0);(0,$.module$exports$Blockly$utils$string.isNumber)(String(a))?0===a&&(a=""):($.Blockly.Python.definitions_.import_sys="import sys",a+=" or sys.maxsize");break;case "LAST":a="";break;default:throw Error("Unhandled option (text_getSubstring)");}return[d+"["+b+" : "+a+"]",$.Blockly.Python.ORDER_MEMBER]};
+  $.Blockly.Python.text_changeCase=function(a){var b={UPPERCASE:".upper()",LOWERCASE:".lower()",TITLECASE:".title()"}[a.getFieldValue("CASE")];return[($.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_MEMBER)||"''")+b,$.Blockly.Python.ORDER_FUNCTION_CALL]};$.Blockly.Python.text_trim=function(a){var b={LEFT:".lstrip()",RIGHT:".rstrip()",BOTH:".strip()"}[a.getFieldValue("MODE")];return[($.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_MEMBER)||"''")+b,$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.text_print=function(a){return"print("+($.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_NONE)||"''")+")\n"};
+  $.Blockly.Python.text_prompt_ext=function(a){var b=$.Blockly.Python.provideFunction_("text_prompt","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(msg):\n  try:\n    return raw_input(msg)\n  except NameError:\n    return input(msg)\n");var c=a.getField("TEXT")?$.Blockly.Python.quote_(a.getFieldValue("TEXT")):$.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_NONE)||"''";b=b+"("+c+")";"NUMBER"===a.getFieldValue("TYPE")&&(b="float("+b+")");return[b,$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.text_prompt=$.Blockly.Python.text_prompt_ext;$.Blockly.Python.text_count=function(a){var b=$.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_MEMBER)||"''";a=$.Blockly.Python.valueToCode(a,"SUB",$.Blockly.Python.ORDER_NONE)||"''";return[b+".count("+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.text_replace=function(a){var b=$.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_MEMBER)||"''",c=$.Blockly.Python.valueToCode(a,"FROM",$.Blockly.Python.ORDER_NONE)||"''";a=$.Blockly.Python.valueToCode(a,"TO",$.Blockly.Python.ORDER_NONE)||"''";return[b+".replace("+c+", "+a+")",$.Blockly.Python.ORDER_MEMBER]};$.Blockly.Python.text_reverse=function(a){return[($.Blockly.Python.valueToCode(a,"TEXT",$.Blockly.Python.ORDER_MEMBER)||"''")+"[::-1]",$.Blockly.Python.ORDER_MEMBER]};var module$exports$Blockly$Python$procedures={};
+  $.Blockly.Python.procedures_defreturn=function(a){for(var b=[],c=a.workspace,d=(0,$.module$exports$Blockly$Variables.allUsedVarModels)(c)||[],e=0,f;f=d[e];e++)f=f.name,-1===a.getVars().indexOf(f)&&b.push($.Blockly.Python.nameDB_.getName(f,$.module$exports$Blockly$Names.NameType.VARIABLE));c=(0,$.module$exports$Blockly$Variables.allDeveloperVariables)(c);for(d=0;d<c.length;d++)b.push($.Blockly.Python.nameDB_.getName(c[d],$.module$exports$Blockly$Names.NameType.DEVELOPER_VARIABLE));c=b.length?$.Blockly.Python.INDENT+
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+  $.Blockly.Python.procedures_callnoreturn=function(a){return $.Blockly.Python.procedures_callreturn(a)[0]+"\n"};
+  $.Blockly.Python.procedures_ifreturn=function(a){var b="if "+($.Blockly.Python.valueToCode(a,"CONDITION",$.Blockly.Python.ORDER_NONE)||"False")+":\n";$.Blockly.Python.STATEMENT_SUFFIX&&(b+=$.Blockly.Python.prefixLines($.Blockly.Python.injectId($.Blockly.Python.STATEMENT_SUFFIX,a),$.Blockly.Python.INDENT));a.hasReturnValue_?(a=$.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_NONE)||"None",b+=$.Blockly.Python.INDENT+"return "+a+"\n"):b+=$.Blockly.Python.INDENT+"return\n";return b};var module$exports$Blockly$Python$math={};$.Blockly.Python.addReservedWords("math,random,Number");$.Blockly.Python.math_number=function(a){a=Number(a.getFieldValue("NUM"));if(Infinity===a){a='float("inf")';var b=$.Blockly.Python.ORDER_FUNCTION_CALL}else-Infinity===a?(a='-float("inf")',b=$.Blockly.Python.ORDER_UNARY_SIGN):b=0>a?$.Blockly.Python.ORDER_UNARY_SIGN:$.Blockly.Python.ORDER_ATOMIC;return[a,b]};
+  $.Blockly.Python.math_arithmetic=function(a){var b={ADD:[" + ",$.Blockly.Python.ORDER_ADDITIVE],MINUS:[" - ",$.Blockly.Python.ORDER_ADDITIVE],MULTIPLY:[" * ",$.Blockly.Python.ORDER_MULTIPLICATIVE],DIVIDE:[" / ",$.Blockly.Python.ORDER_MULTIPLICATIVE],POWER:[" ** ",$.Blockly.Python.ORDER_EXPONENTIATION]}[a.getFieldValue("OP")],c=b[0];b=b[1];var d=$.Blockly.Python.valueToCode(a,"A",b)||"0";a=$.Blockly.Python.valueToCode(a,"B",b)||"0";return[d+c+a,b]};
+  $.Blockly.Python.math_single=function(a){var b=a.getFieldValue("OP");if("NEG"===b){var c=$.Blockly.Python.valueToCode(a,"NUM",$.Blockly.Python.ORDER_UNARY_SIGN)||"0";return["-"+c,$.Blockly.Python.ORDER_UNARY_SIGN]}$.Blockly.Python.definitions_.import_math="import math";a="SIN"===b||"COS"===b||"TAN"===b?$.Blockly.Python.valueToCode(a,"NUM",$.Blockly.Python.ORDER_MULTIPLICATIVE)||"0":$.Blockly.Python.valueToCode(a,"NUM",$.Blockly.Python.ORDER_NONE)||"0";switch(b){case "ABS":c="math.fabs("+a+")";break;
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+  "("+e+")";else if("DIVISIBLE_BY"===c){a=$.Blockly.Python.valueToCode(a,"DIVISOR",$.Blockly.Python.ORDER_MULTIPLICATIVE)||"0";if("0"===a)return["False",$.Blockly.Python.ORDER_ATOMIC];a=e+" % "+a+" == 0"}else a=e+d;return[a,b]};
+  $.Blockly.Python.math_change=function(a){$.Blockly.Python.definitions_.from_numbers_import_Number="from numbers import Number";var b=$.Blockly.Python.valueToCode(a,"DELTA",$.Blockly.Python.ORDER_ADDITIVE)||"0";a=$.Blockly.Python.nameDB_.getName(a.getFieldValue("VAR"),$.module$exports$Blockly$Names.NameType.VARIABLE);return a+" = ("+a+" if isinstance("+a+", Number) else 0) + "+b+"\n"};$.Blockly.Python.math_round=$.Blockly.Python.math_single;$.Blockly.Python.math_trig=$.Blockly.Python.math_single;
+  $.Blockly.Python.math_on_list=function(a){var b=a.getFieldValue("OP");a=$.Blockly.Python.valueToCode(a,"LIST",$.Blockly.Python.ORDER_NONE)||"[]";switch(b){case "SUM":b="sum("+a+")";break;case "MIN":b="min("+a+")";break;case "MAX":b="max("+a+")";break;case "AVERAGE":$.Blockly.Python.definitions_.from_numbers_import_Number="from numbers import Number";b=$.Blockly.Python.provideFunction_("math_mean","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(myList):\n  localList = [e for e in myList if isinstance(e, Number)]\n  if not localList: return\n  return float(sum(localList)) / len(localList)\n")+
+  "("+a+")";break;case "MEDIAN":$.Blockly.Python.definitions_.from_numbers_import_Number="from numbers import Number";b=$.Blockly.Python.provideFunction_("math_median","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(myList):\n  localList = sorted([e for e in myList if isinstance(e, Number)])\n  if not localList: return\n  if len(localList) % 2 == 0:\n    return (localList[len(localList) // 2 - 1] + localList[len(localList) // 2]) / 2.0\n  else:\n    return localList[(len(localList) - 1) // 2]\n")+
+  "("+a+")";break;case "MODE":b=$.Blockly.Python.provideFunction_("math_modes","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+'(some_list):\n  modes = []\n  # Using a lists of [item, count] to keep count rather than dict\n  # to avoid "unhashable" errors when the counted item is itself a list or dict.\n  counts = []\n  maxCount = 1\n  for item in some_list:\n    found = False\n    for count in counts:\n      if count[0] == item:\n        count[1] += 1\n        maxCount = max(maxCount, count[1])\n        found = True\n    if not found:\n      counts.append([item, 1])\n  for counted_item, item_count in counts:\n    if item_count == maxCount:\n      modes.append(counted_item)\n  return modes\n')+
+  "("+a+")";break;case "STD_DEV":$.Blockly.Python.definitions_.import_math="import math";b=$.Blockly.Python.provideFunction_("math_standard_deviation","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(numbers):\n  n = len(numbers)\n  if n == 0: return\n  mean = float(sum(numbers)) / n\n  variance = sum((x - mean) ** 2 for x in numbers) / n\n  return math.sqrt(variance)\n")+"("+a+")";break;case "RANDOM":$.Blockly.Python.definitions_.import_random="import random";b="random.choice("+a+")";break;default:throw Error("Unknown operator: "+
+  b);}return[b,$.Blockly.Python.ORDER_FUNCTION_CALL]};$.Blockly.Python.math_modulo=function(a){var b=$.Blockly.Python.valueToCode(a,"DIVIDEND",$.Blockly.Python.ORDER_MULTIPLICATIVE)||"0";a=$.Blockly.Python.valueToCode(a,"DIVISOR",$.Blockly.Python.ORDER_MULTIPLICATIVE)||"0";return[b+" % "+a,$.Blockly.Python.ORDER_MULTIPLICATIVE]};
+  $.Blockly.Python.math_constrain=function(a){var b=$.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_NONE)||"0",c=$.Blockly.Python.valueToCode(a,"LOW",$.Blockly.Python.ORDER_NONE)||"0";a=$.Blockly.Python.valueToCode(a,"HIGH",$.Blockly.Python.ORDER_NONE)||"float('inf')";return["min(max("+b+", "+c+"), "+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.math_random_int=function(a){$.Blockly.Python.definitions_.import_random="import random";var b=$.Blockly.Python.valueToCode(a,"FROM",$.Blockly.Python.ORDER_NONE)||"0";a=$.Blockly.Python.valueToCode(a,"TO",$.Blockly.Python.ORDER_NONE)||"0";return["random.randint("+b+", "+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};$.Blockly.Python.math_random_float=function(a){$.Blockly.Python.definitions_.import_random="import random";return["random.random()",$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.math_atan2=function(a){$.Blockly.Python.definitions_.import_math="import math";var b=$.Blockly.Python.valueToCode(a,"X",$.Blockly.Python.ORDER_NONE)||"0";return["math.atan2("+($.Blockly.Python.valueToCode(a,"Y",$.Blockly.Python.ORDER_NONE)||"0")+", "+b+") / math.pi * 180",$.Blockly.Python.ORDER_MULTIPLICATIVE]};var module$exports$Blockly$Python$loops={};
+  $.Blockly.Python.controls_repeat_ext=function(a){var b=a.getField("TIMES")?String(parseInt(a.getFieldValue("TIMES"),10)):$.Blockly.Python.valueToCode(a,"TIMES",$.Blockly.Python.ORDER_NONE)||"0";b=(0,$.module$exports$Blockly$utils$string.isNumber)(b)?parseInt(b,10):"int("+b+")";var c=$.Blockly.Python.statementToCode(a,"DO");c=$.Blockly.Python.addLoopTrap(c,a)||$.Blockly.Python.PASS;return"for "+$.Blockly.Python.nameDB_.getDistinctName("count",$.module$exports$Blockly$Names.NameType.VARIABLE)+" in range("+
+  b+"):\n"+c};$.Blockly.Python.controls_repeat=$.Blockly.Python.controls_repeat_ext;$.Blockly.Python.controls_whileUntil=function(a){var b="UNTIL"===a.getFieldValue("MODE"),c=$.Blockly.Python.valueToCode(a,"BOOL",b?$.Blockly.Python.ORDER_LOGICAL_NOT:$.Blockly.Python.ORDER_NONE)||"False",d=$.Blockly.Python.statementToCode(a,"DO");d=$.Blockly.Python.addLoopTrap(d,a)||$.Blockly.Python.PASS;b&&(c="not "+c);return"while "+c+":\n"+d};
+  $.Blockly.Python.controls_for=function(a){var b=$.Blockly.Python.nameDB_.getName(a.getFieldValue("VAR"),$.module$exports$Blockly$Names.NameType.VARIABLE),c=$.Blockly.Python.valueToCode(a,"FROM",$.Blockly.Python.ORDER_NONE)||"0",d=$.Blockly.Python.valueToCode(a,"TO",$.Blockly.Python.ORDER_NONE)||"0",e=$.Blockly.Python.valueToCode(a,"BY",$.Blockly.Python.ORDER_NONE)||"1",f=$.Blockly.Python.statementToCode(a,"DO");f=$.Blockly.Python.addLoopTrap(f,a)||$.Blockly.Python.PASS;var g="";a=function(){return $.Blockly.Python.provideFunction_("upRange",
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+  $.Blockly.Python.controls_flow_statements=function(a){var b="";$.Blockly.Python.STATEMENT_PREFIX&&(b+=$.Blockly.Python.injectId($.Blockly.Python.STATEMENT_PREFIX,a));$.Blockly.Python.STATEMENT_SUFFIX&&(b+=$.Blockly.Python.injectId($.Blockly.Python.STATEMENT_SUFFIX,a));if($.Blockly.Python.STATEMENT_PREFIX){var c=a.getSurroundLoop();c&&!c.suppressPrefixSuffix&&(b+=$.Blockly.Python.injectId($.Blockly.Python.STATEMENT_PREFIX,c))}switch(a.getFieldValue("FLOW")){case "BREAK":return b+"break\n";case "CONTINUE":return b+
+  "continue\n"}throw Error("Unknown flow statement.");};var module$exports$Blockly$Python$logic={};
+  $.Blockly.Python.controls_if=function(a){var b=0,c="";$.Blockly.Python.STATEMENT_PREFIX&&(c+=$.Blockly.Python.injectId($.Blockly.Python.STATEMENT_PREFIX,a));do{var d=$.Blockly.Python.valueToCode(a,"IF"+b,$.Blockly.Python.ORDER_NONE)||"False";var e=$.Blockly.Python.statementToCode(a,"DO"+b)||$.Blockly.Python.PASS;$.Blockly.Python.STATEMENT_SUFFIX&&(e=$.Blockly.Python.prefixLines($.Blockly.Python.injectId($.Blockly.Python.STATEMENT_SUFFIX,a),$.Blockly.Python.INDENT)+e);c+=(0===b?"if ":"elif ")+d+":\n"+
+  e;b++}while(a.getInput("IF"+b));if(a.getInput("ELSE")||$.Blockly.Python.STATEMENT_SUFFIX)e=$.Blockly.Python.statementToCode(a,"ELSE")||$.Blockly.Python.PASS,$.Blockly.Python.STATEMENT_SUFFIX&&(e=$.Blockly.Python.prefixLines($.Blockly.Python.injectId($.Blockly.Python.STATEMENT_SUFFIX,a),$.Blockly.Python.INDENT)+e),c+="else:\n"+e;return c};$.Blockly.Python.controls_ifelse=$.Blockly.Python.controls_if;
+  $.Blockly.Python.logic_compare=function(a){var b={EQ:"==",NEQ:"!=",LT:"<",LTE:"<=",GT:">",GTE:">="}[a.getFieldValue("OP")],c=$.Blockly.Python.ORDER_RELATIONAL,d=$.Blockly.Python.valueToCode(a,"A",c)||"0";a=$.Blockly.Python.valueToCode(a,"B",c)||"0";return[d+" "+b+" "+a,c]};
+  $.Blockly.Python.logic_operation=function(a){var b="AND"===a.getFieldValue("OP")?"and":"or",c="and"===b?$.Blockly.Python.ORDER_LOGICAL_AND:$.Blockly.Python.ORDER_LOGICAL_OR,d=$.Blockly.Python.valueToCode(a,"A",c);a=$.Blockly.Python.valueToCode(a,"B",c);if(d||a){var e="and"===b?"True":"False";d||(d=e);a||(a=e)}else a=d="False";return[d+" "+b+" "+a,c]};$.Blockly.Python.logic_negate=function(a){return["not "+($.Blockly.Python.valueToCode(a,"BOOL",$.Blockly.Python.ORDER_LOGICAL_NOT)||"True"),$.Blockly.Python.ORDER_LOGICAL_NOT]};
+  $.Blockly.Python.logic_boolean=function(a){return["TRUE"===a.getFieldValue("BOOL")?"True":"False",$.Blockly.Python.ORDER_ATOMIC]};$.Blockly.Python.logic_null=function(a){return["None",$.Blockly.Python.ORDER_ATOMIC]};
+  $.Blockly.Python.logic_ternary=function(a){var b=$.Blockly.Python.valueToCode(a,"IF",$.Blockly.Python.ORDER_CONDITIONAL)||"False",c=$.Blockly.Python.valueToCode(a,"THEN",$.Blockly.Python.ORDER_CONDITIONAL)||"None";a=$.Blockly.Python.valueToCode(a,"ELSE",$.Blockly.Python.ORDER_CONDITIONAL)||"None";return[c+" if "+b+" else "+a,$.Blockly.Python.ORDER_CONDITIONAL]};var module$exports$Blockly$Python$lists={};$.Blockly.Python.lists_create_empty=function(a){return["[]",$.Blockly.Python.ORDER_ATOMIC]};$.Blockly.Python.lists_create_with=function(a){for(var b=Array(a.itemCount_),c=0;c<a.itemCount_;c++)b[c]=$.Blockly.Python.valueToCode(a,"ADD"+c,$.Blockly.Python.ORDER_NONE)||"None";return["["+b.join(", ")+"]",$.Blockly.Python.ORDER_ATOMIC]};
+  $.Blockly.Python.lists_repeat=function(a){var b=$.Blockly.Python.valueToCode(a,"ITEM",$.Blockly.Python.ORDER_NONE)||"None";a=$.Blockly.Python.valueToCode(a,"NUM",$.Blockly.Python.ORDER_MULTIPLICATIVE)||"0";return["["+b+"] * "+a,$.Blockly.Python.ORDER_MULTIPLICATIVE]};$.Blockly.Python.lists_length=function(a){return["len("+($.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_NONE)||"[]")+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.lists_isEmpty=function(a){return["not len("+($.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_NONE)||"[]")+")",$.Blockly.Python.ORDER_LOGICAL_NOT]};
+  $.Blockly.Python.lists_indexOf=function(a){var b=$.Blockly.Python.valueToCode(a,"FIND",$.Blockly.Python.ORDER_NONE)||"[]",c=$.Blockly.Python.valueToCode(a,"VALUE",$.Blockly.Python.ORDER_NONE)||"''",d=" -1",e="",f=" - 1";a.workspace.options.oneBasedIndex&&(d=" 0",e=" + 1",f="");return[("FIRST"===a.getFieldValue("END")?$.Blockly.Python.provideFunction_("first_index","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(my_list, elem):\n  try: index = my_list.index(elem)"+e+"\n  except: index ="+d+
+  "\n  return index\n"):$.Blockly.Python.provideFunction_("last_index","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(my_list, elem):\n  try: index = len(my_list) - my_list[::-1].index(elem)"+f+"\n  except: index ="+d+"\n  return index\n"))+"("+c+", "+b+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.lists_getIndex=function(a){var b=a.getFieldValue("MODE")||"GET",c=a.getFieldValue("WHERE")||"FROM_START",d=$.Blockly.Python.valueToCode(a,"VALUE","RANDOM"===c?$.Blockly.Python.ORDER_NONE:$.Blockly.Python.ORDER_MEMBER)||"[]";switch(c){case "FIRST":if("GET"===b)return[d+"[0]",$.Blockly.Python.ORDER_MEMBER];if("GET_REMOVE"===b)return[d+".pop(0)",$.Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"===b)return d+".pop(0)\n";break;case "LAST":if("GET"===b)return[d+"[-1]",$.Blockly.Python.ORDER_MEMBER];
+  if("GET_REMOVE"===b)return[d+".pop()",$.Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"===b)return d+".pop()\n";break;case "FROM_START":a=$.Blockly.Python.getAdjustedInt(a,"AT");if("GET"===b)return[d+"["+a+"]",$.Blockly.Python.ORDER_MEMBER];if("GET_REMOVE"===b)return[d+".pop("+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"===b)return d+".pop("+a+")\n";break;case "FROM_END":a=$.Blockly.Python.getAdjustedInt(a,"AT",1,!0);if("GET"===b)return[d+"["+a+"]",$.Blockly.Python.ORDER_MEMBER];if("GET_REMOVE"===
+  b)return[d+".pop("+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"===b)return d+".pop("+a+")\n";break;case "RANDOM":$.Blockly.Python.definitions_.import_random="import random";if("GET"===b)return["random.choice("+d+")",$.Blockly.Python.ORDER_FUNCTION_CALL];d=$.Blockly.Python.provideFunction_("lists_remove_random_item","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(myList):\n  x = int(random.random() * len(myList))\n  return myList.pop(x)\n")+"("+d+")";if("GET_REMOVE"===b)return[d,
+  $.Blockly.Python.ORDER_FUNCTION_CALL];if("REMOVE"===b)return d+"\n"}throw Error("Unhandled combination (lists_getIndex).");};
+  $.Blockly.Python.lists_setIndex=function(a){var b=$.Blockly.Python.valueToCode(a,"LIST",$.Blockly.Python.ORDER_MEMBER)||"[]",c=a.getFieldValue("MODE")||"GET",d=a.getFieldValue("WHERE")||"FROM_START",e=$.Blockly.Python.valueToCode(a,"TO",$.Blockly.Python.ORDER_NONE)||"None";switch(d){case "FIRST":if("SET"===c)return b+"[0] = "+e+"\n";if("INSERT"===c)return b+".insert(0, "+e+")\n";break;case "LAST":if("SET"===c)return b+"[-1] = "+e+"\n";if("INSERT"===c)return b+".append("+e+")\n";break;case "FROM_START":a=
+  $.Blockly.Python.getAdjustedInt(a,"AT");if("SET"===c)return b+"["+a+"] = "+e+"\n";if("INSERT"===c)return b+".insert("+a+", "+e+")\n";break;case "FROM_END":a=$.Blockly.Python.getAdjustedInt(a,"AT",1,!0);if("SET"===c)return b+"["+a+"] = "+e+"\n";if("INSERT"===c)return b+".insert("+a+", "+e+")\n";break;case "RANDOM":$.Blockly.Python.definitions_.import_random="import random";b.match(/^\w+$/)?a="":(a=$.Blockly.Python.nameDB_.getDistinctName("tmp_list",$.module$exports$Blockly$Names.NameType.VARIABLE),
+  d=a+" = "+b+"\n",b=a,a=d);d=$.Blockly.Python.nameDB_.getDistinctName("tmp_x",$.module$exports$Blockly$Names.NameType.VARIABLE);a+=d+" = int(random.random() * len("+b+"))\n";if("SET"===c)return a+(b+"["+d+"] = "+e+"\n");if("INSERT"===c)return a+(b+".insert("+d+", "+e+")\n")}throw Error("Unhandled combination (lists_setIndex).");};
+  $.Blockly.Python.lists_getSublist=function(a){var b=$.Blockly.Python.valueToCode(a,"LIST",$.Blockly.Python.ORDER_MEMBER)||"[]",c=a.getFieldValue("WHERE1"),d=a.getFieldValue("WHERE2");switch(c){case "FROM_START":c=$.Blockly.Python.getAdjustedInt(a,"AT1");0===c&&(c="");break;case "FROM_END":c=$.Blockly.Python.getAdjustedInt(a,"AT1",1,!0);break;case "FIRST":c="";break;default:throw Error("Unhandled option (lists_getSublist)");}switch(d){case "FROM_START":a=$.Blockly.Python.getAdjustedInt(a,"AT2",1);
+  break;case "FROM_END":a=$.Blockly.Python.getAdjustedInt(a,"AT2",0,!0);(0,$.module$exports$Blockly$utils$string.isNumber)(String(a))?0===a&&(a=""):($.Blockly.Python.definitions_.import_sys="import sys",a+=" or sys.maxsize");break;case "LAST":a="";break;default:throw Error("Unhandled option (lists_getSublist)");}return[b+"["+c+" : "+a+"]",$.Blockly.Python.ORDER_MEMBER]};
+  $.Blockly.Python.lists_sort=function(a){var b=$.Blockly.Python.valueToCode(a,"LIST",$.Blockly.Python.ORDER_NONE)||"[]",c=a.getFieldValue("TYPE");a="1"===a.getFieldValue("DIRECTION")?"False":"True";return[$.Blockly.Python.provideFunction_("lists_sort","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+'(my_list, type, reverse):\n  def try_float(s):\n    try:\n      return float(s)\n    except:\n      return 0\n  key_funcs = {\n    "NUMERIC": try_float,\n    "TEXT": str,\n    "IGNORE_CASE": lambda s: str(s).lower()\n  }\n  key_func = key_funcs[type]\n  list_cpy = list(my_list)\n  return sorted(list_cpy, key=key_func, reverse=reverse)\n')+
+  "("+b+', "'+c+'", '+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.lists_split=function(a){var b=a.getFieldValue("MODE");if("SPLIT"===b)b=$.Blockly.Python.valueToCode(a,"INPUT",$.Blockly.Python.ORDER_MEMBER)||"''",a=$.Blockly.Python.valueToCode(a,"DELIM",$.Blockly.Python.ORDER_NONE),a=b+".split("+a+")";else if("JOIN"===b)b=$.Blockly.Python.valueToCode(a,"INPUT",$.Blockly.Python.ORDER_NONE)||"[]",a=($.Blockly.Python.valueToCode(a,"DELIM",$.Blockly.Python.ORDER_MEMBER)||"''")+".join("+b+")";else throw Error("Unknown mode: "+b);return[a,$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.lists_reverse=function(a){return["list(reversed("+($.Blockly.Python.valueToCode(a,"LIST",$.Blockly.Python.ORDER_NONE)||"[]")+"))",$.Blockly.Python.ORDER_FUNCTION_CALL]};var module$exports$Blockly$Python$colour={};$.Blockly.Python.colour_picker=function(a){return[$.Blockly.Python.quote_(a.getFieldValue("COLOUR")),$.Blockly.Python.ORDER_ATOMIC]};$.Blockly.Python.colour_random=function(a){$.Blockly.Python.definitions_.import_random="import random";return["'#%06x' % random.randint(0, 2**24 - 1)",$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.colour_rgb=function(a){var b=$.Blockly.Python.provideFunction_("colour_rgb","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(r, g, b):\n  r = round(min(100, max(0, r)) * 2.55)\n  g = round(min(100, max(0, g)) * 2.55)\n  b = round(min(100, max(0, b)) * 2.55)\n  return '#%02x%02x%02x' % (r, g, b)\n"),c=$.Blockly.Python.valueToCode(a,"RED",$.Blockly.Python.ORDER_NONE)||0,d=$.Blockly.Python.valueToCode(a,"GREEN",$.Blockly.Python.ORDER_NONE)||0;a=$.Blockly.Python.valueToCode(a,"BLUE",
+  $.Blockly.Python.ORDER_NONE)||0;return[b+"("+c+", "+d+", "+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};
+  $.Blockly.Python.colour_blend=function(a){var b=$.Blockly.Python.provideFunction_("colour_blend","\ndef "+$.Blockly.Python.FUNCTION_NAME_PLACEHOLDER_+"(colour1, colour2, ratio):\n  r1, r2 = int(colour1[1:3], 16), int(colour2[1:3], 16)\n  g1, g2 = int(colour1[3:5], 16), int(colour2[3:5], 16)\n  b1, b2 = int(colour1[5:7], 16), int(colour2[5:7], 16)\n  ratio = min(1, max(0, ratio))\n  r = round(r1 * (1 - ratio) + r2 * ratio)\n  g = round(g1 * (1 - ratio) + g2 * ratio)\n  b = round(b1 * (1 - ratio) + b2 * ratio)\n  return '#%02x%02x%02x' % (r, g, b)\n"),c=
+  $.Blockly.Python.valueToCode(a,"COLOUR1",$.Blockly.Python.ORDER_NONE)||"'#000000'",d=$.Blockly.Python.valueToCode(a,"COLOUR2",$.Blockly.Python.ORDER_NONE)||"'#000000'";a=$.Blockly.Python.valueToCode(a,"RATIO",$.Blockly.Python.ORDER_NONE)||0;return[b+"("+c+", "+d+", "+a+")",$.Blockly.Python.ORDER_FUNCTION_CALL]};var module$exports$Blockly$Python$all={};
+  $.Blockly.Python.__namespace__=$;
+  return $.Blockly.Python;
+  }));
+  
+  
+  //# sourceMappingURL=python_compressed.js.map
\ No newline at end of file
diff --git a/app/lib/WPILib/WPILib.py b/app/lib/WPILib/WPILib.py
new file mode 100755
index 0000000..0f8c68f
--- /dev/null
+++ b/app/lib/WPILib/WPILib.py
@@ -0,0 +1,44 @@
+import board as _board
+from _drivetrain import Drivetrain
+from _encoded_motor import EncodedMotor
+from _ultrasonic_wrapper import Ultrasonic
+from _reflectance_wrapper import Reflectance
+from _servo import Servo
+from _buttons import Buttons
+from _led import RGBLED
+
+import time
+
+# hidden motor variables
+"""
+If you need to change the encoder counts, alter the ticksPerRev values in the following two constructors.
+Most robots have either 144 or 288 ticks per revolution, depending on which motors are used.
+"""
+_leftMotor = EncodedMotor(
+    encoderPinA=_board.GP4, 
+    encoderPinB=_board.GP5,
+    motorPin1=_board.GP8, 
+    motorPin2=_board.GP9, 
+    doFlip=True, 
+    ticksPerRev=288)
+
+_rightMotor = EncodedMotor(
+    encoderPinA=_board.GP2, 
+    encoderPinB=_board.GP3,
+    motorPin1=_board.GP10, 
+    motorPin2=_board.GP11, 
+    doFlip=False, 
+    ticksPerRev=288)
+
+# Publicly-accessible objects
+drivetrain = Drivetrain(_leftMotor, _rightMotor) # units in cm
+reflectance = Reflectance()
+sonar = Ultrasonic()
+led = RGBLED(_board.GP18)
+servo = Servo(_board.GP12, actuationRange = 135)
+buttons = Buttons()
+
+def set_legacy_mode(is_legacy: bool = True):
+    drivetrain.set_legacy_mode(is_legacy)
+    sonar.set_legacy_mode(is_legacy)
+    reflectance.set_legacy_mode(is_legacy)
\ No newline at end of file
diff --git a/app/lib/WPILib/__pycache__/encoded_motor.cpython-39.pyc b/app/lib/WPILib/__pycache__/encoded_motor.cpython-39.pyc
new file mode 100755
index 0000000..d20c1da
Binary files /dev/null and b/app/lib/WPILib/__pycache__/encoded_motor.cpython-39.pyc differ
diff --git a/app/lib/WPILib/_adafruit_hcsr04.py b/app/lib/WPILib/_adafruit_hcsr04.py
new file mode 100644
index 0000000..1751d60
--- /dev/null
+++ b/app/lib/WPILib/_adafruit_hcsr04.py
@@ -0,0 +1,172 @@
+# Write your code here :-)
+# SPDX-FileCopyrightText: 2017 Mike Mabey
+#
+# SPDX-License-Identifier: MIT
+
+"""
+`adafruit_hcsr04`
+====================================================
+
+A CircuitPython library for the HC-SR04 ultrasonic range sensor.
+
+The HC-SR04 functions by sending an ultrasonic signal, which is reflected by
+many materials, and then sensing when the signal returns to the sensor. Knowing
+that sound travels through dry air at `343.2 meters per second (at 20 °C)
+<https://en.wikipedia.org/wiki/Speed_of_sound>`_, it's pretty straightforward
+to calculate how far away the object is by timing how long the signal took to
+go round-trip and do some simple arithmetic, which is handled for you by this
+library.
+
+.. warning::
+
+    The HC-SR04 uses 5V logic, so you will have to use a `level shifter
+    <https://www.adafruit.com/product/2653?q=level%20shifter&>`_ or simple
+    voltage divider between it and your CircuitPython board (which uses 3.3V logic)
+
+* Authors:
+
+  - Mike Mabey
+  - Jerry Needell - modified to add timeout while waiting for echo (2/26/2018)
+  - ladyada - compatible with `distance` property standard, renaming, Pi compat
+"""
+
+import time
+import math
+from digitalio import DigitalInOut, Direction
+
+_USE_PULSEIO = False
+try:
+    from pulseio import PulseIn
+
+    _USE_PULSEIO = True
+except ImportError:
+    pass  # This is OK, we'll try to bitbang it!
+
+__version__ = "0.0.0-auto.0"
+__repo__ = "https://github.com/adafruit/Adafruit_CircuitPython_HCSR04.git"
+
+class AdafruitUltrasonic:
+    """Control a HC-SR04 ultrasonic range sensor.
+
+    Example use:
+
+    ::
+
+        import time
+        import board
+
+        import adafruit_hcsr04
+
+        sonar = adafruit_hcsr04.HCSR04(trigger_pin=board.D2, echo_pin=board.D3)
+
+
+        while True:
+            try:
+                print((sonar.distance,))
+            except RuntimeError:
+                print("Retrying!")
+                pass
+            time.sleep(0.1)
+    """
+
+    def __init__(self, trigger_pin, echo_pin, *, timeout=0.1):
+        """
+        :param trigger_pin: The pin on the microcontroller that's connected to the
+            ``Trig`` pin on the HC-SR04.
+        :type trig_pin: microcontroller.Pin
+        :param echo_pin: The pin on the microcontroller that's connected to the
+            ``Echo`` pin on the HC-SR04.
+        :type echo_pin: microcontroller.Pin
+        :param float timeout: Max seconds to wait for a response from the
+            sensor before assuming it isn't going to answer. Should *not* be
+            set to less than 0.05 seconds!
+        """
+        self.MAX_VALUE = 65535
+        self._timeout = timeout
+        self._trig = DigitalInOut(trigger_pin)
+        self._trig.direction = Direction.OUTPUT
+
+        if _USE_PULSEIO:
+            self._echo = PulseIn(echo_pin)
+            self._echo.pause()
+            self._echo.clear()
+        else:
+            self._echo = DigitalInOut(echo_pin)
+            self._echo.direction = Direction.INPUT
+
+    def __enter__(self):
+        """Allows for use in context managers."""
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        """Automatically de-initialize after a context manager."""
+        self.deinit()
+
+    def _deinit(self):
+        """De-initialize the trigger and echo pins."""
+        self._trig.deinit()
+        self._echo.deinit()
+
+    def get_distance(self):
+        """
+        Return the distance measured by the sensor in cm.
+
+        This is the function that will be called most often in user code. The
+        distance is calculated by timing a pulse from the sensor, indicating
+        how long between when the sensor sent out an ultrasonic signal and when
+        it bounced back and was received again.
+
+        If no signal is received, we'll throw a RuntimeError exception. This means
+        either the sensor was moving too fast to be pointing in the right
+        direction to pick up the ultrasonic signal when it bounced back (less
+        likely), or the object off of which the signal bounced is too far away
+        for the sensor to handle. In my experience, the sensor can detect
+        objects over 460 cm away.
+
+        :return: Distance in centimeters.
+        :rtype: float
+        """
+        return self._dist_two_wire()  # at this time we only support 2-wire meausre
+
+    def _dist_two_wire(self):
+        if _USE_PULSEIO:
+            self._echo.clear()  # Discard any previous pulse values
+        self._trig.value = True  # Set trig high
+        time.sleep(0.00001)  # 10 micro seconds 10/1000/1000
+        self._trig.value = False  # Set trig low
+
+        pulselen = None
+        timestamp = time.monotonic()
+        if _USE_PULSEIO:
+            self._echo.resume()
+            while not self._echo:
+                # Wait for a pulse
+                if (time.monotonic() - timestamp) > self._timeout:
+                    self._echo.pause()
+                    #raise RuntimeError("Timed out")
+                    return self.MAX_VALUE
+            self._echo.pause()
+            pulselen = self._echo[0]
+        else:
+            # OK no hardware pulse support, we'll just do it by hand!
+            # hang out while the pin is low
+            while not self._echo.value:
+                if time.monotonic() - timestamp > self._timeout:
+                    #raise RuntimeError("Timed out")
+                    return self.MAX_VALUE
+            timestamp = time.monotonic()
+            # track how long pin is high
+            while self._echo.value:
+                if time.monotonic() - timestamp > self._timeout:
+                    #raise RuntimeError("Timed out")
+                    return self.MAX_VALUE
+            pulselen = time.monotonic() - timestamp
+            pulselen *= 1000000  # convert to us to match pulseio
+        if pulselen >= 65535:
+            #raise RuntimeError("Timed out")
+            return self.MAX_VALUE
+
+        # positive pulse time, in seconds, times 340 meters/sec, then
+        # divided by 2 gives meters. Multiply by 100 for cm
+        # 1/1000000 s/us * 340 m/s * 100 cm/m * 2 = 0.017
+        return pulselen * 0.017
diff --git a/app/lib/WPILib/_analog_reflectance.py b/app/lib/WPILib/_analog_reflectance.py
new file mode 100755
index 0000000..45a4353
--- /dev/null
+++ b/app/lib/WPILib/_analog_reflectance.py
@@ -0,0 +1,34 @@
+from analogio import AnalogIn
+
+class AnalogReflectance:
+
+    """
+    Implements for the new reflectance sensor.
+    Reads from analog in and converts to a float from 0 (white) to 1 (black)
+    """
+
+    def __init__(self, leftPin, rightPin):
+        self._leftReflectance = AnalogIn(leftPin)
+        self._rightReflectance = AnalogIn(rightPin)
+
+    def _get_value(self, sensor: AnalogIn) -> float:
+        MAX_ANALOG_VALUE: int = 65535
+        return sensor.value / MAX_ANALOG_VALUE
+    
+    # Implements AbstractReflectance
+    def get_left(self) -> float:
+        """
+        Gets the the reflectance of the left reflectance sensor
+        :return: The reflectance ranging from 0 (white) to 1 (black)
+        :rtype: float
+        """
+        return self._get_value(self._leftReflectance)
+    
+    # Implements AbstractReflectance
+    def get_right(self) -> float:
+        """
+        Gets the the reflectance of the right reflectance sensor
+        :return: The reflectance ranging from 0 (white) to 1 (black)
+        :rtype: float
+        """
+        return self._get_value(self._rightReflectance)
\ No newline at end of file
diff --git a/app/lib/WPILib/_buttons.py b/app/lib/WPILib/_buttons.py
new file mode 100755
index 0000000..81ab51e
--- /dev/null
+++ b/app/lib/WPILib/_buttons.py
@@ -0,0 +1,30 @@
+import board
+from digitalio import DigitalInOut, Direction, Pull
+
+class Buttons:
+
+    def _createButton(self, buttonPin):
+        btn = DigitalInOut(buttonPin)
+        btn.direction = Direction.INPUT
+        btn.pull = Pull.UP
+        return btn
+
+    def __init__(self):
+        self._buttonGP20 = self._createButton(board.GP20)
+        self._buttonGP21 = self._createButton(board.GP21)
+
+    def is_GP20_pressed(self) -> bool:
+        """
+        Get whether the GP20 button on the RP2040 microcontroller has been pressed
+        : return: if the GP20 button was pressed
+        : rtype: bool
+        """
+        return not self._buttonGP20.value
+
+    def is_GP21_pressed(self) -> bool:
+        """
+        Get whether the GP21 button on the RP2040 microcontroller has been pressed
+        : return: if the GP21 button was pressed
+        : rtype: bool
+        """
+        return not self._buttonGP21.value
diff --git a/app/lib/WPILib/_drivetrain.py b/app/lib/WPILib/_drivetrain.py
new file mode 100755
index 0000000..4b4af57
--- /dev/null
+++ b/app/lib/WPILib/_drivetrain.py
@@ -0,0 +1,221 @@
+import math
+import time
+from . import _encoded_motor
+
+
+def _isTimeout(startTime, timeout):
+
+    if timeout is None:
+        return False
+    return time.time() >= startTime+timeout
+
+
+# Encapsulates the left and right motor objects and provides high-level functionality to manipulate robot locomotion.
+
+class Drivetrain:
+
+    def __init__(self, left_encoded_motor: _encoded_motor, right_encoded_motor: _encoded_motor): # wheelDiameter and wheelSpacing in cm
+
+        self.leftMotor = left_encoded_motor
+        self.rightMotor = right_encoded_motor
+
+        self._LEGACY_DIAMETER: float = 6.5 # diameter of old robot wheel in cm
+        self._NEW_DIAMETER: float = 6.5 # diameter of new robot wheel in cm
+
+        self._LEGACY_WHEEL_SPACING: float = 16 # distance between old robot wheels in cm
+        self._NEW_WHEEL_SPACING: float = 13.5 # distance between new robot wheels in cm
+        
+        self._LEGACY_TICKS_PER_REV: int = 144 # distance between old robot wheels in cm
+        self._NEW_TICKS_PER_REV: int = 288 # distance between new robot wheels in cm
+
+        self.wheelDiameter = self._NEW_DIAMETER
+        self.wheelSpacing = self._NEW_WHEEL_SPACING
+        
+
+        self.set_encoder_position(0, 0)
+
+    def _set_wheel_diameter(self, diameter: float):
+        """
+        Set the wheel diameter
+
+        :param diameter: The diameter of the drive wheels in centimeters
+        type diameter: float
+        """
+        self.wheelDiameter = diameter
+
+    def _set_wheel_spacing(self, wheel_spacing: float):
+        """
+        Set the space between wheels
+
+        :param wheel_spacing: The distance between the drive wheels in centimeters
+        type wheel_spacing: float
+        """
+        self.wheelSpacing = wheel_spacing
+
+    def _set_encoder_ticks_per_rev(self, ticks_per_revolution: int):
+        """
+        Set the space between wheels
+
+        :param ticks_per_revolution: The number of encoder ticks per full revolution of the wheel
+        type ticks_per_revolution: int
+        """
+        self.leftMotor._set_encoder_ticks_per_rev(ticks_per_revolution)
+        self.rightMotor._set_encoder_ticks_per_rev(ticks_per_revolution)
+
+    def set_legacy_mode(self, is_legacy: bool = True):
+        if is_legacy:
+            self._set_wheel_diameter(self._LEGACY_DIAMETER)
+            self._set_wheel_spacing(self._LEGACY_WHEEL_SPACING)
+            self._set_encoder_ticks_per_rev(self._LEGACY_TICKS_PER_REV)
+        else:
+            self._set_wheel_diameter(self._NEW_DIAMETER)
+            self._set_wheel_spacing(self._NEW_WHEEL_SPACING)
+            self._set_encoder_ticks_per_rev(self._NEW_TICKS_PER_REV)
+
+    # Go forward the specified distance in centimeters, and exit function when distance has been reached.
+    # Speed is bounded from -1 (reverse at full speed) to 1 (forward at full speed)
+    def straight(self, distance: float, speed: float = 0.5, timeout: float = None) -> bool:
+        """
+        Go forward the specified distance in centimeters, and exit function when distance has been reached.
+        Speed is bounded from -1 (reverse at full speed) to 1 (forward at full speed)
+
+        : param distance: The distance for the robot to travel (In Centimeters)
+        : type distance: float
+        : param speed: The speed for which the robot to travel (Bounded from -1 to 1). Default is half speed forward
+        : type speed: float
+        : param timeout: The amount of time before the robot stops trying to move forward and continues to the next step (In Seconds)
+        : type timeout: float
+        : return: if the distance was reached before the timeout
+        : rtype: bool
+        """
+        # ensure distance is always positive while speed could be either positive or negative
+        if distance < 0:
+            speed *= -1
+            distance *= -1
+
+        startTime = time.time()
+        startingLeft = self.get_left_encoder_position()
+        startingRight = self.get_right_encoder_position()
+
+        KP = 5
+
+        rotationsToDo = distance  / (self.wheelDiameter * math.pi)
+
+        while True:
+
+            leftPosition = self.get_left_encoder_position()
+            rightPosition = self.get_right_encoder_position()
+            leftDelta = leftPosition - startingLeft
+            rightDelta = rightPosition - startingRight
+
+            if _isTimeout(startTime, timeout) or abs(leftDelta + rightDelta)/2 >= rotationsToDo:
+                break
+
+            error = KP * (leftDelta - rightDelta) # positive if bearing right
+
+            self.set_effort(speed - error, speed + error)
+
+            time.sleep(0.01)
+
+        self.stop()
+
+        if timeout is None:
+            return True
+        else:
+            return time.time() < startTime+timeout
+
+    def turn(self, turn_degrees: float, speed: float = 0.5, timeout: float = None) -> bool:
+        """
+        Turn the robot some relative heading given in turnDegrees, and exit function when the robot has reached that heading.
+        Speed is bounded from -1 (turn counterclockwise the relative heading at full speed) to 1 (turn clockwise the relative heading at full speed)
+
+        : param turnDegrees: The number of angle for the robot to turn (In Degrees)
+        : type turnDegrees: float
+        : param speed: The speed for which the robot to travel (Bounded from -1 to 1). Default is half speed forward.
+        : type speed: float
+        : param timeout: The amount of time before the robot stops trying to turn and continues to the next step (In Seconds)
+        : type timeout: float
+        : return: if the distance was reached before the timeout
+        : rtype: bool
+        """
+
+        # ensure distance is always positive while speed could be either positive or negative
+        if turn_degrees < 0:
+            speed *= -1
+            turn_degrees *= -1
+
+        rotationsToDo = (turn_degrees/360) * self.wheelSpacing / self.wheelDiameter
+
+        startTime = time.time()
+        startingLeft = self.get_left_encoder_position()
+        startingRight = self.get_right_encoder_position()
+
+        KP = 5
+
+        while True:
+
+            leftPosition = self.get_left_encoder_position()
+            rightPosition = self.get_right_encoder_position()
+            leftDelta = leftPosition - startingLeft
+            rightDelta = rightPosition - startingRight
+
+            if _isTimeout(startTime, timeout) or abs(leftDelta - rightDelta)/2 >= rotationsToDo:
+                break
+        
+            error = KP * (leftDelta + rightDelta)
+            
+            self.set_effort(speed - error, -speed - error)
+
+            time.sleep(0.01)
+
+        self.stop()
+
+        if timeout is None:
+            return True
+        else:
+            return time.time() < startTime+timeout
+
+    def set_effort(self, left_effort: float, right_effort: float) -> None:
+        """
+        Set the raw effort of both motors individually
+
+        : param leftEffort: The power (Bounded from -1 to 1) to set the left motor to.
+        : type leftEffort: float
+        : param rightEffort: The power (Bounded from -1 to 1) to set the right motor to.
+        : type rightEffort: float
+        """
+
+        self.leftMotor.setEffort(left_effort)
+        self.rightMotor.setEffort(right_effort)
+
+    def stop(self) -> None:
+        """
+        Stops both drivetrain motors
+        """
+        self.set_effort(0,0)
+
+    def set_encoder_position(self, left_degrees: float, right_degrees: float) -> None:
+        """
+        Set the position of the motors' encoders in degrees. Note that this does not actually move the motor but just recalibrates the stored encoder value.
+        If only one encoder position is specified, the encoders for each motor will be set to that position.
+
+        : param leftDegrees: The distance to recalibrate the left encoder to.
+        : type leftDegrees: float
+        : param rightDegrees: The distance to recalibrate the left encoder to.
+        : type rightDegrees: float
+        """
+
+        self.leftMotor.setPos(left_degrees)
+        self.rightMotor.setPos(right_degrees)
+
+    def get_left_encoder_position(self) -> float:
+        """
+        Return the current position of the left motor's encoder in revolutions.
+        """
+        return self.leftMotor.getPos()
+
+    def get_right_encoder_position(self) -> float:
+        """
+        Return the current position of the right motor's encoder in revolutions.
+        """
+        return self.rightMotor.getPos()
\ No newline at end of file
diff --git a/app/lib/WPILib/_encoded_motor.py b/app/lib/WPILib/_encoded_motor.py
new file mode 100755
index 0000000..ba23532
--- /dev/null
+++ b/app/lib/WPILib/_encoded_motor.py
@@ -0,0 +1,43 @@
+from adafruit_motor import motor
+import pwmio
+import time
+from . import _encoder
+
+class EncodedMotor:
+    def __init__(self, encoderPinA, encoderPinB , motorPin1, motorPin2, Name="Motor Unnamed", doFlip=False, ticksPerRev=288):
+        
+        self.name = Name
+        self.encoder = _encoder.Encoder(pinA=encoderPinA, pinB=encoderPinB, ticksPerRev=ticksPerRev, doFlip=doFlip)
+        self.flip = doFlip
+        
+        MA = pwmio.PWMOut(motorPin1, frequency=10000)
+        MB = pwmio.PWMOut(motorPin2, frequency=10000)
+        if doFlip:
+            self.motor = motor.DCMotor(MB, MA)
+        else:
+            self.motor = motor.DCMotor(MA, MB)
+
+        self.effort = None
+
+    def __repr__(self):
+        print(self.name)
+        print("Effort   " + str(self.effort))
+        print("Position " + str(self.encoder.getPos()))
+        print("Flipped  " + str(self.flip))
+        pass
+
+    # set motor throttle (effort) betwen [-1, 1]
+    def setEffort(self, effort: float) -> None:
+        if effort is None:
+            self.motor.throttle = None
+        else:
+            self.motor.throttle = min(1, max(-1, effort)) # bound effort between [-1, 1]
+
+    def getPos(self) -> float:
+        return self.encoder.getPos()
+
+    def setPos(self, pos: float = 0) -> None:
+        self.encoder.setPos(pos)
+
+    def _set_encoder_ticks_per_rev(self, ticks_per_revolution: int):
+        self.encoder._set_encoder_ticks_per_rev(ticks_per_revolution)
\ No newline at end of file
diff --git a/app/lib/WPILib/_encoder.py b/app/lib/WPILib/_encoder.py
new file mode 100755
index 0000000..409ea7c
--- /dev/null
+++ b/app/lib/WPILib/_encoder.py
@@ -0,0 +1,35 @@
+
+import rotaryio
+
+class Encoder:
+
+    def __init__(self, pinA, pinB, ticksPerRev, doFlip=False):
+        self.ticksPerRev = ticksPerRev
+        self.reverse = doFlip
+        self.encoder = rotaryio.IncrementalEncoder(pinA, pinB)
+
+    def getPos(self) -> float:
+        """
+        Retrieves the position of the encoder in revolutions
+
+        :return: The position of the encoder
+        :rtype: float
+        """
+        r = self.encoder.position / self.ticksPerRev
+        if self.reverse:
+            return -r
+        else:
+            return r
+
+
+    def setPos(self, pos: float = 0):
+        """
+        Recalibrates the encoder to the specified position
+        :param pos: The number of rotations to set encoder to
+        :type pos: float
+        :return: void
+        """
+        self.encoder.position = round(pos * self.ticksPerRev)
+
+    def _set_encoder_ticks_per_rev(self, ticks_per_revolution: int):
+        self.ticksPerRev = ticks_per_revolution
diff --git a/app/lib/WPILib/_grove_reflectance.py b/app/lib/WPILib/_grove_reflectance.py
new file mode 100755
index 0000000..ce76e89
--- /dev/null
+++ b/app/lib/WPILib/_grove_reflectance.py
@@ -0,0 +1,30 @@
+from . import _grove_ultrasonic
+
+class GroveReflectance():
+
+    """
+    Supports the old reflectance sensor. A wrapper for the GroveUltrasonic class, because
+    for some reason the implementation for the reflectance sensor is identical to GroveUltrasonic
+    """
+
+    def __init__(self, leftPin, rightPin):
+        self._leftReflectance = _grove_ultrasonic.GroveUltrasonic(leftPin, timeout = 1)
+        self._rightReflectance = _grove_ultrasonic.GroveUltrasonic(rightPin, timeout = 1)
+    
+    # Implements AbstractReflectance
+    def get_left(self) -> float:
+        """
+        Gets the the reflectance of the left reflectance sensor
+        :return: The reflectance ranging from 0 (white) to 1 (black)
+        :rtype: float
+        """
+        return self._leftReflectance.get_distance()
+    
+    # Implements AbstractReflectance
+    def get_right(self) -> float:
+        """
+        Gets the the reflectance of the right reflectance sensor
+        :return: The reflectance ranging from 0 (white) to 1 (black)
+        :rtype: float
+        """
+        return self._rightReflectance.get_distance()
diff --git a/app/lib/WPILib/_grove_ultrasonic.py b/app/lib/WPILib/_grove_ultrasonic.py
new file mode 100755
index 0000000..fb47584
--- /dev/null
+++ b/app/lib/WPILib/_grove_ultrasonic.py
@@ -0,0 +1,185 @@
+#!/usr/bin/env python3
+
+# The MIT License (MIT)
+#
+# Copyright (c) 2017 Mike Mabey
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+"""
+`grove_ultrasonic`
+====================================================
+
+A CircuitPython library for the Grove ultrasonic range sensor.
+Based on the CircuitPython library for the HC-SR04 ultrasonic range sensor.
+
+The HC-SR04 functions by sending an ultrasonic signal, which is reflected by
+many materials, and then sensing when the signal returns to the sensor. Knowing
+that sound travels through dry air at `343.2 meters per second (at 20 °C)
+<https://en.wikipedia.org/wiki/Speed_of_sound>`_, it's pretty straightforward
+to calculate how far away the object is by timing how long the signal took to
+go round-trip and do some simple arithmetic, which is handled for you by this
+library.
+
+* Original authors:
+
+  - Mike Mabey
+  - Jerry Needell - modified to add timeout while waiting for echo (2/26/2018)
+  - ladyada - compatible with `distance` property standard, renaming, Pi compat
+"""
+
+import time
+from digitalio import DigitalInOut, Direction
+
+# Took this idea from adafruit_debouncer.py
+# Find out whether the current CircuitPython supports time.monotonic_ns(),
+# which doesn't have the accuracy limitation.
+if hasattr(time, "monotonic_ns"):
+    TICKS_PER_SEC = 1_000_000_000
+    MONOTONIC_TICKS = time.monotonic_ns
+else:
+    TICKS_PER_SEC = 1
+    MONOTONIC_TICKS = time.monotonic
+	
+_USE_PULSEIO = False
+try:
+	from pulseio import PulseIn
+	
+	_USE_PULSEIO = True
+except ImportError:
+	pass  # This is OK, we'll try to bitbang it!
+	
+__version__ = "1.0.0"
+__repo__ = "https://github.com/derhexenmeister/GroveUltrasonicRanger.git"
+
+
+class GroveUltrasonic:
+	"""Control a Grove ultrasonic range sensor.
+
+	Example use:
+
+	::
+
+		import time
+		import board
+
+		import grove_ultrasonic_ranger
+
+		sonar = grove_ultrasonic_ranger.GroveUltrasonicRanger(sig_pin=board.D2)
+
+
+		while True:
+			try:
+				print((sonar.distance,))
+			except RuntimeError as e:
+				print("Retrying due to exception =", e)
+				pass
+			time.sleep(0.1)
+	"""
+	
+	def __init__(self, sig_pin, unit=1.0, timeout=1.0):
+		"""
+		:param sig_pin: The pin on the microcontroller that's connected to the
+			``Sig`` pin on the GroveUltrasonicRanger.
+		:type sig_pin: microcontroller.Pin
+		:param float unit: pass in conversion factor for unit conversions from cm
+			for example 2.54 would convert to inches.
+		:param float timeout: Max seconds to wait for a response from the
+			sensor before assuming it isn't going to answer. Should *not* be
+			set to less than 0.05 seconds!
+		"""
+		print("init grove with ", sig_pin)
+		self._unit = unit
+		self._timeout = timeout*TICKS_PER_SEC
+		print("Using pulseio: ", _USE_PULSEIO)
+		if _USE_PULSEIO:
+			self._sig = PulseIn(sig_pin)
+			self._sig.pause()
+			self._sig.clear()
+		else:
+			self._sig = DigitalInOut(sig_pin)
+			self._sig.direction = Direction.OUTPUT
+			self._sig.value = False	 # Set trig low
+			
+	def __enter__(self):
+		#Allows for use in context managers.
+		return self
+	
+	def __exit__(self, exc_type, exc_val, exc_tb):
+		#Automatically de-initialize after a context manager.
+		self._deinit()
+		
+	def _deinit(self):
+		#De-initialize the sig pin.
+		self._sig.deinit()
+		
+	def get_distance(self) -> float:
+		"""
+		Return the distance measured by the sensor in cm.
+
+		:return: Distance in centimeters
+		:rtype: float
+		"""
+		return self._dist_one_wire()
+	
+	def _dist_one_wire(self):
+		if _USE_PULSEIO:
+			self._sig.pause()
+			self._sig.clear()  # Discard any previous pulse values
+		else:
+			#self._sig.direction = Direction.OUTPUT
+			self._sig.value = True	# Set trig high
+			time.sleep(0.00001)	 # 10 micro seconds 10/1000/1000
+			self._sig.value = False	 # Set trig low
+			self._sig.direction = Direction.INPUT
+			
+		pulselen = None
+		timestamp = MONOTONIC_TICKS()
+		if _USE_PULSEIO:
+			self._sig.resume(10)
+			while not self._sig:
+				# Wait for a pulse
+				if (MONOTONIC_TICKS() - timestamp) > self._timeout:
+					self._sig.pause()
+					raise RuntimeError("Timed out (pulseio waiting for a pulse)")
+			self._sig.pause()
+			pulselen = self._sig[0]
+		else:
+			# OK no hardware pulse support, we'll just do it by hand!
+			# hang out while the pin is low
+			while not self._sig.value:
+				if MONOTONIC_TICKS() - timestamp > self._timeout:
+					self._sig.direction = Direction.OUTPUT
+					raise RuntimeError("Timed out (gpio, waiting for pulse leading edge)")
+			timestamp = MONOTONIC_TICKS()
+			# track how long pin is high
+			while self._sig.value:
+				if MONOTONIC_TICKS() - timestamp > self._timeout:
+					self._sig.direction = Direction.OUTPUT
+					raise RuntimeError("Timed out (gpio, waiting for pulse trailing edge)")
+			pulselen = MONOTONIC_TICKS() - timestamp
+			self._sig.direction = Direction.OUTPUT
+			pulselen *= (1000000/TICKS_PER_SEC) # convert to us to match pulseio
+		if pulselen >= 65535:
+			raise RuntimeError("Timed out (unreasonable pulse length)")
+			
+		# positive pulse time, in seconds, times 340 meters/sec, then
+		# divided by 2 gives meters. Multiply by 100 for cm
+		# 1/1000000 s/us * 340 m/s * 100 cm/m * 2 = 0.017
+		# Divide by the supplied unit conversion factor
+		return (pulselen * 0.017)/self._unit
diff --git a/app/lib/WPILib/_led.py b/app/lib/WPILib/_led.py
new file mode 100755
index 0000000..4c5f9ea
--- /dev/null
+++ b/app/lib/WPILib/_led.py
@@ -0,0 +1,36 @@
+import neopixel
+
+class RGBLED:
+
+    def __init__(self, pin):
+        self._pixels = neopixel.NeoPixel(pin, 2)
+        self._pixels.fill(0xFFFFFF)
+        self._pixels.brightness = 0
+
+    def set_color(self, red: int, green: int, blue: int):
+        """
+        Sets the color of the led by taking in the RGB representation of the color
+
+        :param red: The red value (0-255)
+        :type red: int
+        :param green: The green value (0-255)
+        :type green: int
+        :param blue: The blue value (0-255)
+        :type blue: int
+        """
+        new_color = red*16**4+green*16**2+blue
+        self._pixels.fill(new_color)
+    
+    def set_brightness(self, brightness: float):
+        """
+        Sets the brightness of the two LEDs on the board
+
+        :param brightness: The brightness to set the LEDs to [Bound from 0 (off) to 1 (max)]
+        :type brightness: float
+        """
+        brightness = min(1,max(0,brightness))
+        self._pixels.brightness = brightness
+
+        
+    
+        
\ No newline at end of file
diff --git a/app/lib/WPILib/_reflectance_wrapper.py b/app/lib/WPILib/_reflectance_wrapper.py
new file mode 100644
index 0000000..0861b43
--- /dev/null
+++ b/app/lib/WPILib/_reflectance_wrapper.py
@@ -0,0 +1,56 @@
+from . import _analog_reflectance
+from . import _grove_reflectance
+import board
+
+class Reflectance:
+
+    """
+    A wrapper for an object that stores either the legacy or new implementation of the reflectance sensor
+    User can set one of two modes, and get the value of either reflectance sensor
+    """
+
+    def __init__(self):
+
+        # Default to new sensor
+        self._reflectanceObject = None
+        self._isLegacyMode = False
+
+    def set_legacy_mode(self, is_legacy: bool = True) -> None:
+        """
+        Set whether the reflectance sensor is the old or the new analog one
+        :param is_legacy: True if using the old version, False if using the new one
+        :type is_legacy: bool
+        """
+        self._isLegacyMode = is_legacy
+
+
+    def _possibly_instantiate_object(self):
+        # If self._reflectanceObject is not defined, define it
+
+        if self._reflectanceObject is not None:
+            return
+
+        if self._isLegacyMode:
+            self._reflectanceObject = _grove_reflectance.GroveReflectance(board.GP26, board.GP27)
+        else:
+            self._reflectanceObject = _analog_reflectance.AnalogReflectance(board.GP27, board.GP26)
+        
+    
+    def get_left(self) -> float:
+        """
+        Gets the the reflectance of the left reflectance sensor
+        :return: The reflectance ranging from 0 (white) to 1 (black)
+        :rtype: float
+        """
+        self._possibly_instantiate_object()
+        return self._reflectanceObject.get_left()
+    
+
+    def get_right(self) -> float:
+        """
+        Gets the the reflectance of the right reflectance sensor
+        :return: The reflectance ranging from 0 (white) to 1 (black)
+        :rtype: float
+        """
+        self._possibly_instantiate_object()
+        return self._reflectanceObject.get_right()
\ No newline at end of file
diff --git a/app/lib/WPILib/_servo.py b/app/lib/WPILib/_servo.py
new file mode 100755
index 0000000..a610106
--- /dev/null
+++ b/app/lib/WPILib/_servo.py
@@ -0,0 +1,21 @@
+import pwmio
+from adafruit_motor import servo
+import time
+
+class Servo:
+
+    def __init__(self, servoPin, actuationRange: int):
+
+        pwm = pwmio.PWMOut(servoPin, duty_cycle=2 ** 15, frequency=50)
+        self._servo = servo.Servo(pwm)
+        self._range = actuationRange
+        self._servo.actuation_range = self._range # Bound servo motor between [0, actuationRange] degrees
+
+    def set_degrees(self, degrees: int):
+        """
+            Tells the servo to move to the specified position
+
+            :param degrees: The angle for the servo to move to, bound in [0,135]
+            :type degrees: int
+        """
+        self._servo.angle = max(0, min(self._range, degrees))
diff --git a/app/lib/WPILib/_ultrasonic_wrapper.py b/app/lib/WPILib/_ultrasonic_wrapper.py
new file mode 100644
index 0000000..677fac1
--- /dev/null
+++ b/app/lib/WPILib/_ultrasonic_wrapper.py
@@ -0,0 +1,47 @@
+from . import _adafruit_hcsr04
+from . import _grove_ultrasonic
+import board
+
+class Ultrasonic:
+    """
+    A wrapper for an object that stores either the legacy or new implementation of the ultrasonic sensor
+    User can set one of two modes, and get the value of either ultrasonic sensor
+    """
+
+    def __init__(self):
+
+        # Default to new sensor
+        self._sonarObject = None
+        self._isLegacyMode = False
+
+    def set_legacy_mode(self, is_legacy: bool = True) -> None:
+        """
+        Set whether the reflectance sensor is the old or the new analog one
+        :param is_legacy: True if using the old version, False if using the new one
+        :type is_legacy: bool
+        """
+        self._isLegacyMode = is_legacy
+
+
+    def _possibly_instantiate_object(self):
+        # If self._reflectanceObject is not defined, define it
+
+        if self._sonarObject is not None:
+            return
+
+        if self._isLegacyMode:
+            self._sonarObject = _grove_ultrasonic.GroveUltrasonic(board.GP28)
+        else:
+            self._sonarObject = _adafruit_hcsr04.AdafruitUltrasonic(board.GP7, board.GP28)
+        
+    
+    def get_distance(self) -> float:
+        """
+		Return the distance measured by the sensor in cm.
+        If the distance is too far, it returns a maximum value of 65535.
+
+		:return: Distance in centimeters
+		:rtype: float
+		"""
+        self._possibly_instantiate_object()
+        return self._sonarObject.get_distance()
diff --git a/app/src/ui/blocklyworkspace.js b/app/src/ui/blocklyworkspace.js
index 7d7f0ba..1c0def8 100644
--- a/app/src/ui/blocklyworkspace.js
+++ b/app/src/ui/blocklyworkspace.js
@@ -51,7 +51,7 @@ workspace.addChangeListener(myUpdateFunction);
 /* Code Cleaning and Formatting */
 function processCode(code) {
     // console.log("Processing Code");
-    code = "from WPILib.WPILib import *\n\n" + code
+    code = "from WPILib.WPILib import *\n\nfrom machine import Pin \nimport bluetooth\n\nfrom XRPLib.defaults import * \nfrom pestolink import PestoLinkAgent\n\nrobot_name = \"XRProbot\"\npestolink = PestoLinkAgent(robot_name)\n\n" + code
     // if (code.includes('encoded_motor')) {
     //     // console.log("Found encoded_motor");
     // }
diff --git a/app/src/xrp_blocks.js b/app/src/xrp_blocks.js
index 96f528d..650414f 100644
--- a/app/src/xrp_blocks.js
+++ b/app/src/xrp_blocks.js
@@ -361,4 +361,136 @@ Blockly.Blocks['xrp_r_refl'] = {
     this.setTooltip("");
     this.setHelpUrl("");
   }
+};
+
+Blockly.Blocks['pestolink_getcontrollerleftx']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Get Horizontal Value of Left Joystick");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['pestolink_getcontrollerlefty']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Get Vertical Value of Left Joystick");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['pestolink_getcontrollerrightx']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Get Horizontal Value of Right Joystick");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['pestolink_getcontrollerrighty']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Get Vertical Value of Right Joystick");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['isapressed']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("A Pressed");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['isbpressed']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("B Pressed");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['isxpressed']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("X Pressed");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['isypressed']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Y Pressed");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['isrightbumperpressed']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Right Bumper Pressed");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['isleftbumperpressed']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Left Bumper Pressed");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['isrighttriggerpressed']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Right Trigger Pressed");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
+};
+
+Blockly.Blocks['islefttriggerpressed']={
+  init: function () {
+    this.appendDummyInput()
+      .appendField("Left Trigger Pressed");
+    this.setOutput(true, null);
+    this.setColour(60);
+    this.setTooltip("");
+    this.setHelpUrl("");
+  }
 };
\ No newline at end of file
diff --git a/app/src/xrp_blocks_python.js b/app/src/xrp_blocks_python.js
index a489ed0..70e583a 100644
--- a/app/src/xrp_blocks_python.js
+++ b/app/src/xrp_blocks_python.js
@@ -176,4 +176,88 @@ Blockly.Python['xrp_r_refl'] = function (block) {
   var code = `reflectance.get_right()`;
   // TODO: Change ORDER_NONE to the correct strength.
   return [code, Blockly.Python.ORDER_NONE];
-};
\ No newline at end of file
+};
+
+Blockly.Python['pestolink_getcontrollerleftx'] = function (block) {
+  // TODO: Assemble Python into code variable.
+  var code = `pestolink.get_axis(0)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['pestolink_getcontrollerlefty'] = function (block) {
+  // TODO: Assemble Python into code variable.
+  var code = `pestolink.get_axis(1)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['pestolink_getcontrollerrightx'] = function (block) {
+  // TODO: Assemble Python into code variable.
+  var code = `pestolink.get_axis(2)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['pestolink_getcontrollerrighty'] = function (block) {
+  // TODO: Assemble Python into code variablse.
+  var code = `pestolink.get_axis(3)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['isapressed'] = function (block) {
+  // TODO: Assemble Python into code variable.
+  var code = `pestolink.get_button(0)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['isbpressed'] = function (block) {
+  // TODO: Assemble Python into code variable.
+  var code = `pestolink.get_button(1)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['isypressed'] = function (block) {
+  // TODO: Assemble Python into code variable.
+  var code = `pestolink.get_button(3)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['isxpressed'] = function (block) {
+  // TODO: Assemble Python into code variable.
+  var code = `pestolink.get_button(2)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['isleftbumperpressed'] = function (block) {
+  // TODO: Assemble Python into code variable.
+  var code = `pestolink.get_button(4)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['isrightbumperpressed'] = function (block) {
+  // TODO: Assemble Python into code variable.
+  var code = `pestolink.get_button(5)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['islefttriggerpressed'] = function (block) {
+  // TODO: Assemble Python into code variable.
+  var code = `pestolink.get_button(6)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
+
+Blockly.Python['isrighttriggerpressed'] = function (block) {
+  // TODO: Assemble Python into code variable.
+  var code = `pestolink.get_button(7)`;
+  // TODO: Change ORDER_NONE to the correct strength.
+  return [code, Blockly.Python.ORDER_NONE];
+};
diff --git a/app/src/xrp_file.js b/app/src/xrp_file.js
index 5e3d0a0..4b50ea6 100644
--- a/app/src/xrp_file.js
+++ b/app/src/xrp_file.js
@@ -46,6 +46,7 @@ function makexrp_content(code, blks) {
     hash = hashCode(code);
     strblks = JSON.stringify(blks);
     xrpstring = code + '\n\n\n## ' + dtime + '\n## ' + hash + '\n## ' + strblks;
+    console.log(xrpstring)
     return xrpstring;
 }
 
diff --git a/index.html b/index.html
index c44c3d8..a629619 100644
--- a/index.html
+++ b/index.html
@@ -444,6 +444,20 @@
               <field name="TICKS">drivetrain._LEGACY_TICKS_PER_REV</field>
             </block>
           </category>
+          <category name="Controller" colour="#A6A65C">
+          <block type="pestolink_getcontrollerleftx"></block>
+          <block type="pestolink_getcontrollerlefty"></block>
+          <block type="pestolink_getcontrollerrightx"></block>
+          <block type="pestolink_getcontrollerrighty"></block>
+          <block type="isapressed"></block>
+          <block type="isbpressed"></block>
+          <block type="isxpressed"></block>
+          <block type="isypressed"></block>
+          <block type="islefttriggerpressed"></block>
+          <block type="isrighttriggerpressed"></block>
+          <block type="isleftbumperpressed"></block>
+          <block type="isleftbumperpressed"></block>
+        </category>
           <category name="Control Board" colour="#5C9AA6">
             <block type="xrp_led_br">
               <value name="brightness">
diff --git a/package-lock.json b/package-lock.json
index 6f0fa26..3d4cada 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -12,25 +12,27 @@
         "async-polling": "^0.2.1",
         "bootstrap": "^5.2.0",
         "drivelist": "^11.0.0",
+        "electron-builder": "^24.13.3",
         "electron-reloader": "^1.2.3",
-        "electron-squirrel-startup": "^1.0.0",
+        "electron-squirrel-startup": "^1.0.1",
+        "fs-extra": "^11.1.1",
         "serialport": "^10.5.0"
       },
       "devDependencies": {
-        "@electron-forge/cli": "^6.0.0-beta.65",
-        "@electron-forge/maker-deb": "^6.0.0-beta.65",
-        "@electron-forge/maker-rpm": "^6.0.0-beta.65",
-        "@electron-forge/maker-squirrel": "^6.0.0-beta.65",
-        "@electron-forge/maker-zip": "^6.0.0-beta.65",
-        "electron": "^20.1.0",
-        "electron-builder": "^23.6.0"
+        "@electron-forge/cli": "^6.4.2",
+        "@electron-forge/maker-deb": "^6.4.2",
+        "@electron-forge/maker-rpm": "^6.4.2",
+        "@electron-forge/maker-squirrel": "^6.4.2",
+        "@electron-forge/maker-zip": "^6.4.2",
+        "@electron-forge/plugin-auto-unpack-natives": "^6.4.2",
+        "electron": "^30.0.8"
       }
     },
     "node_modules/@develar/schema-utils": {
       "version": "2.6.5",
       "resolved": "https://registry.npmjs.org/@develar/schema-utils/-/schema-utils-2.6.5.tgz",
       "integrity": "sha512-0cp4PsWQ/9avqTVMCtZ+GirikIA36ikvjtHweU4/j8yLtgObI0+JUPhYFScgwlteveGB1rt3Cm8UhN04XayDig==",
-      "dev": true,
+      "license": "MIT",
       "dependencies": {
         "ajv": "^6.12.0",
         "ajv-keywords": "^3.4.1"
@@ -43,26 +45,10 @@
         "url": "https://opencollective.com/webpack"
       }
     },
-    "node_modules/@electron-forge/async-ora": {
-      "version": "6.0.0-beta.65",
-      "resolved": "https://registry.npmjs.org/@electron-forge/async-ora/-/async-ora-6.0.0-beta.65.tgz",
-      "integrity": "sha512-CREk/7XQsg26q2l5s/oFG6GcomzKzWnpaeCKgRCWfdMleKvOubeDd/OA68LkzhLixMWYGbXCWLbHUhGTdGzcWA==",
-      "dev": true,
-      "dependencies": {
-        "chalk": "^4.0.0",
-        "debug": "^4.3.1",
-        "log-symbols": "^4.0.0",
-        "ora": "^5.0.0",
-        "pretty-ms": "^7.0.0"
-      },
-      "engines": {
-        "node": ">= 14.17.5"
-      }
-    },
     "node_modules/@electron-forge/cli": {
-      "version": "6.0.0-beta.65",
-      "resolved": "https://registry.npmjs.org/@electron-forge/cli/-/cli-6.0.0-beta.65.tgz",
-      "integrity": "sha512-PQ6axjSVl5AIYf1g1+Qn1QHbVyjp+fpTRzwMJ9bMM91cA7of2d92c4IF96Q6T9Zvn4aeAsxx/fvDLikobptucQ==",
+      "version": "6.4.2",
+      "resolved": "https://registry.npmjs.org/@electron-forge/cli/-/cli-6.4.2.tgz",
+      "integrity": "sha512-bM6YVTV0uUEpIL1jkpARlSm4Li26XZn+avC/lyTdpPqnd65T/oXZNkrAD+2Jb0RlgplOaM21qWm7ybtvKDGDyA==",
       "dev": true,
       "funding": [
         {
@@ -74,16 +60,16 @@
           "url": "https://tidelift.com/subscription/pkg/npm-.electron-forge-cli?utm_medium=referral&utm_source=npm_fund"
         }
       ],
+      "license": "MIT",
       "dependencies": {
-        "@electron-forge/async-ora": "6.0.0-beta.65",
-        "@electron-forge/core": "6.0.0-beta.65",
-        "@electron-forge/shared-types": "6.0.0-beta.65",
-        "@electron/get": "^1.9.0",
+        "@electron-forge/core": "6.4.2",
+        "@electron-forge/shared-types": "6.4.2",
+        "@electron/get": "^2.0.0",
         "chalk": "^4.0.0",
         "commander": "^4.1.1",
         "debug": "^4.3.1",
         "fs-extra": "^10.0.0",
-        "inquirer": "^8.0.0",
+        "listr2": "^5.0.3",
         "semver": "^7.2.1"
       },
       "bin": {
@@ -121,21 +107,6 @@
         "graceful-fs": "^4.1.6"
       }
     },
-    "node_modules/@electron-forge/cli/node_modules/semver": {
-      "version": "7.3.7",
-      "resolved": "https://registry.npmjs.org/semver/-/semver-7.3.7.tgz",
-      "integrity": "sha512-QlYTucUYOews+WeEujDoEGziz4K6c47V/Bd+LjSSYcA94p+DmINdf7ncaUinThfvZyu13lN9OY1XDxt8C0Tw0g==",
-      "dev": true,
-      "dependencies": {
-        "lru-cache": "^6.0.0"
-      },
-      "bin": {
-        "semver": "bin/semver.js"
-      },
-      "engines": {
-        "node": ">=10"
-      }
-    },
     "node_modules/@electron-forge/cli/node_modules/universalify": {
       "version": "2.0.0",
       "resolved": "https://registry.npmjs.org/universalify/-/universalify-2.0.0.tgz",
@@ -146,9 +117,9 @@
       }
     },
     "node_modules/@electron-forge/core": {
-      "version": "6.0.0-beta.65",
-      "resolved": "https://registry.npmjs.org/@electron-forge/core/-/core-6.0.0-beta.65.tgz",
-      "integrity": "sha512-3gkoHYzOsEGOEakIkldpCSKExUYhXnUwqPlyg+Na3WvI40NWqh8wjfb92t5FsOb3Wrf9SkV5/DrF51S9E+108w==",
+      "version": "6.4.2",
+      "resolved": "https://registry.npmjs.org/@electron-forge/core/-/core-6.4.2.tgz",
+      "integrity": "sha512-VtrFZ1Q7NG1ov0jJO/tUvUiYdWZ0Y31xw762is/jfpRPD6V/soOpwJJAoWoPK9TZVkTm2pkS8S5LikCMbNCLxw==",
       "dev": true,
       "funding": [
         {
@@ -161,36 +132,34 @@
         }
       ],
       "dependencies": {
-        "@electron-forge/async-ora": "6.0.0-beta.65",
-        "@electron-forge/installer-base": "6.0.0-beta.65",
-        "@electron-forge/installer-deb": "6.0.0-beta.65",
-        "@electron-forge/installer-dmg": "6.0.0-beta.65",
-        "@electron-forge/installer-exe": "6.0.0-beta.65",
-        "@electron-forge/installer-rpm": "6.0.0-beta.65",
-        "@electron-forge/installer-zip": "6.0.0-beta.65",
-        "@electron-forge/maker-base": "6.0.0-beta.65",
-        "@electron-forge/plugin-base": "6.0.0-beta.65",
-        "@electron-forge/publisher-base": "6.0.0-beta.65",
-        "@electron-forge/shared-types": "6.0.0-beta.65",
-        "@electron-forge/template-base": "6.0.0-beta.65",
-        "@electron-forge/template-typescript": "6.0.0-beta.65",
-        "@electron-forge/template-typescript-webpack": "6.0.0-beta.65",
-        "@electron-forge/template-webpack": "6.0.0-beta.65",
-        "@electron/get": "^1.9.0",
+        "@electron-forge/core-utils": "6.4.2",
+        "@electron-forge/maker-base": "6.4.2",
+        "@electron-forge/plugin-base": "6.4.2",
+        "@electron-forge/publisher-base": "6.4.2",
+        "@electron-forge/shared-types": "6.4.2",
+        "@electron-forge/template-base": "6.4.2",
+        "@electron-forge/template-vite": "6.4.2",
+        "@electron-forge/template-vite-typescript": "6.4.2",
+        "@electron-forge/template-webpack": "6.4.2",
+        "@electron-forge/template-webpack-typescript": "6.4.2",
+        "@electron/get": "^2.0.0",
+        "@electron/rebuild": "^3.2.10",
         "@malept/cross-spawn-promise": "^2.0.0",
         "chalk": "^4.0.0",
         "debug": "^4.3.1",
-        "electron-packager": "^15.4.0",
-        "electron-rebuild": "^3.2.6",
+        "electron-packager": "^17.1.2",
         "fast-glob": "^3.2.7",
         "filenamify": "^4.1.0",
         "find-up": "^5.0.0",
         "fs-extra": "^10.0.0",
         "got": "^11.8.5",
+        "interpret": "^3.1.1",
+        "listr2": "^5.0.3",
         "lodash": "^4.17.20",
         "log-symbols": "^4.0.0",
         "node-fetch": "^2.6.7",
         "progress": "^2.0.3",
+        "rechoir": "^0.8.0",
         "resolve-package": "^1.0.1",
         "semver": "^7.2.1",
         "source-map-support": "^0.5.13",
@@ -202,70 +171,60 @@
         "node": ">= 14.17.5"
       }
     },
-    "node_modules/@electron-forge/core/node_modules/@sindresorhus/is": {
-      "version": "4.6.0",
-      "resolved": "https://registry.npmjs.org/@sindresorhus/is/-/is-4.6.0.tgz",
-      "integrity": "sha512-t09vSN3MdfsyCHoFcTRCH/iUtG7OJ0CsjzB8cjAmKc/va/kIgeDI/TxsigdncE/4be734m0cvIYwNaV4i2XqAw==",
-      "dev": true,
-      "engines": {
-        "node": ">=10"
-      },
-      "funding": {
-        "url": "https://github.com/sindresorhus/is?sponsor=1"
-      }
-    },
-    "node_modules/@electron-forge/core/node_modules/@szmarczak/http-timer": {
-      "version": "4.0.6",
-      "resolved": "https://registry.npmjs.org/@szmarczak/http-timer/-/http-timer-4.0.6.tgz",
-      "integrity": "sha512-4BAffykYOgO+5nzBWYwE3W90sBgLJoUPRWWcL8wlyiM8IB8ipJz3UMJ9KXQd1RKQXpKp8Tutn80HZtWsu2u76w==",
+    "node_modules/@electron-forge/core-utils": {
+      "version": "6.4.2",
+      "resolved": "https://registry.npmjs.org/@electron-forge/core-utils/-/core-utils-6.4.2.tgz",
+      "integrity": "sha512-CjB3aakmRsXAMMDYc8PxNTMf4FdI29y4PErfv7eCXlL5oo3JW0VSKZIV7R8/Po0S0got85q2kmhZgCKuxL1BNA==",
       "dev": true,
       "dependencies": {
-        "defer-to-connect": "^2.0.0"
+        "@electron-forge/shared-types": "6.4.2",
+        "@electron/rebuild": "^3.2.10",
+        "@malept/cross-spawn-promise": "^2.0.0",
+        "chalk": "^4.0.0",
+        "debug": "^4.3.1",
+        "find-up": "^5.0.0",
+        "fs-extra": "^10.0.0",
+        "log-symbols": "^4.0.0",
+        "semver": "^7.2.1",
+        "yarn-or-npm": "^3.0.1"
       },
       "engines": {
-        "node": ">=10"
+        "node": ">= 14.17.5"
       }
     },
-    "node_modules/@electron-forge/core/node_modules/cacheable-request": {
-      "version": "7.0.2",
-      "resolved": "https://registry.npmjs.org/cacheable-request/-/cacheable-request-7.0.2.tgz",
-      "integrity": "sha512-pouW8/FmiPQbuGpkXQ9BAPv/Mo5xDGANgSNXzTzJ8DrKGuXOssM4wIQRjfanNRh3Yu5cfYPvcorqbhg2KIJtew==",
+    "node_modules/@electron-forge/core-utils/node_modules/fs-extra": {
+      "version": "10.1.0",
+      "resolved": "https://registry.npmjs.org/fs-extra/-/fs-extra-10.1.0.tgz",
+      "integrity": "sha512-oRXApq54ETRj4eMiFzGnHWGy+zo5raudjuxN0b8H7s/RU2oW0Wvsx9O0ACRN/kRq9E8Vu/ReskGB5o3ji+FzHQ==",
       "dev": true,
       "dependencies": {
-        "clone-response": "^1.0.2",
-        "get-stream": "^5.1.0",
-        "http-cache-semantics": "^4.0.0",
-        "keyv": "^4.0.0",
-        "lowercase-keys": "^2.0.0",
-        "normalize-url": "^6.0.1",
-        "responselike": "^2.0.0"
+        "graceful-fs": "^4.2.0",
+        "jsonfile": "^6.0.1",
+        "universalify": "^2.0.0"
       },
       "engines": {
-        "node": ">=8"
+        "node": ">=12"
       }
     },
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@@ -14369,10 +13714,9 @@
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+        "string-width": "^4.1.0",
+        "strip-ansi": "^6.0.0"
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+      "resolved": "https://registry.npmjs.org/wrap-ansi/-/wrap-ansi-7.0.0.tgz",
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@@ -14477,14 +13821,12 @@
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@@ -14492,25 +13834,33 @@
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-      "dev": true,
+      "version": "17.7.2",
+      "resolved": "https://registry.npmjs.org/yargs/-/yargs-17.7.2.tgz",
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-        "cliui": "^7.0.2",
+        "cliui": "^8.0.1",
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         "require-directory": "^2.1.1",
         "string-width": "^4.2.3",
         "y18n": "^5.0.5",
-        "yargs-parser": "^21.0.0"
+        "yargs-parser": "^21.1.1"
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+        "cliui": {
+          "version": "8.0.1",
+          "resolved": "https://registry.npmjs.org/cliui/-/cliui-8.0.1.tgz",
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+            "strip-ansi": "^6.0.1",
+            "wrap-ansi": "^7.0.0"
+          }
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-      "dev": true
+      "dev": true,
+      "optional": true
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     "yarn-or-npm": {
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@@ -14550,9 +13901,9 @@
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-          "resolved": "https://registry.npmjs.org/semver/-/semver-5.7.1.tgz",
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+          "version": "5.7.2",
+          "resolved": "https://registry.npmjs.org/semver/-/semver-5.7.2.tgz",
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@@ -14595,6 +13946,37 @@
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+    },
+    "zip-stream": {
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+      "resolved": "https://registry.npmjs.org/zip-stream/-/zip-stream-4.1.1.tgz",
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+      "peer": true,
+      "requires": {
+        "archiver-utils": "^3.0.4",
+        "compress-commons": "^4.1.2",
+        "readable-stream": "^3.6.0"
+      },
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+        "archiver-utils": {
+          "version": "3.0.4",
+          "resolved": "https://registry.npmjs.org/archiver-utils/-/archiver-utils-3.0.4.tgz",
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+          "peer": true,
+          "requires": {
+            "glob": "^7.2.3",
+            "graceful-fs": "^4.2.0",
+            "lazystream": "^1.0.0",
+            "lodash.defaults": "^4.2.0",
+            "lodash.difference": "^4.5.0",
+            "lodash.flatten": "^4.4.0",
+            "lodash.isplainobject": "^4.0.6",
+            "lodash.union": "^4.6.0",
+            "normalize-path": "^3.0.0",
+            "readable-stream": "^3.6.0"
+          }
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+      }
     }
   }
 }
diff --git a/package.json b/package.json
index 7e673e9..c65612a 100644
--- a/package.json
+++ b/package.json
@@ -17,20 +17,22 @@
   "author": "XRP <gr-XRP@wpi.edu>",
   "license": "ISC",
   "devDependencies": {
-    "@electron-forge/cli": "^6.0.0-beta.65",
-    "@electron-forge/maker-deb": "^6.0.0-beta.65",
-    "@electron-forge/maker-rpm": "^6.0.0-beta.65",
-    "@electron-forge/maker-squirrel": "^6.0.0-beta.65",
-    "@electron-forge/maker-zip": "^6.0.0-beta.65",
-    "electron": "^20.1.0",
-    "electron-builder": "^23.6.0"
+    "@electron-forge/cli": "^6.4.2",
+    "@electron-forge/maker-deb": "^6.4.2",
+    "@electron-forge/maker-rpm": "^6.4.2",
+    "@electron-forge/maker-squirrel": "^6.4.2",
+    "@electron-forge/maker-zip": "^6.4.2",
+    "@electron-forge/plugin-auto-unpack-natives": "^6.4.2",
+    "electron-builder": "^24.13.3",
+    "electron": "^30.0.8"
   },
   "dependencies": {
     "async-polling": "^0.2.1",
     "bootstrap": "^5.2.0",
     "drivelist": "^11.0.0",
     "electron-reloader": "^1.2.3",
-    "electron-squirrel-startup": "^1.0.0",
+    "electron-squirrel-startup": "^1.0.1",
+    "fs-extra": "^11.1.1",
     "serialport": "^10.5.0"
   },
   "config": {