Uvodne vaje za robotiko

77 files changed, 3622 insertions, 6 deletions

diff --git a/robot/problems/introduction/circle20/common.py b/robot/problems/introduction/circle20/common.py
new file mode 100644
index 0000000..661d43a
--- /dev/null
+++ b/robot/problems/introduction/circle20/common.py
@@ -0,0 +1,62 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 205
+group = 'introduction'
+number = 5
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+fct = 9 # full circle time
+rad = 20 # Direction to make a good radius for the circle
+robot.move_steering( 'on_for_seconds', direction=rad, power=40, seconds=fct )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteering': Hint('moveSteering'),
+    'onForSeconds': Hint('onForSeconds'),
+    'direction': Hint('direction'),
+    'seconds': Hint('seconds'),
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['move_steering']):
+        return [{'id': 'moveSteering'}]
+
+    if not 'on_for_seconds' in code:
+        return [{'id': 'onForSeconds'}]
+    
+    if not 'direction' in code:
+        return [{'id': 'direction'}]
+    
+    if not 'seconds' in code:
+        return [{'id': 'seconds'}]
+
+    return None
diff --git a/robot/problems/introduction/circle20/common.py~ b/robot/problems/introduction/circle20/common.py~
new file mode 100644
index 0000000..eb171ae
--- /dev/null
+++ b/robot/problems/introduction/circle20/common.py~
@@ -0,0 +1,63 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 205
+group = 'introduction'
+number = 5
+visible = True
+
+solution = '''\
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+fct = 9 # full circle time
+rad = 20 # Direction to make a good radius for the circle
+robot.move_steering( 'on_for_seconds', direction=rad, power=40, seconds=fct )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteering': Hint('moveSteering'),
+    'onForSeconds': Hint('onForSeconds'),
+    'direction': Hint('direction'),
+    'seconds': Hint('seconds'),
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['move_steering']):
+        return [{'id': 'moveSteering'}]
+
+    if not has_token_sequence(tokens, ['on_for_seconds']):
+        return [{'id': 'onForSeconds'}]
+    
+    if not has_token_sequence(tokens, ['direction']):
+        return [{'id': 'direction'}]
+    
+    if not has_token_sequence(tokens, ['seconds']):
+        return [{'id': 'seconds'}]
+
+    return None
diff --git a/robot/problems/introduction/circle20/en.py b/robot/problems/introduction/circle20/en.py
new file mode 100644
index 0000000..8210d71
--- /dev/null
+++ b/robot/problems/introduction/circle20/en.py
@@ -0,0 +1,14 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 205
+name = 'Circle 20 cm'
+slug = 'Circle 20 cm'
+
+description = '''\
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/circle20/naloga05_circle20.py b/robot/problems/introduction/circle20/naloga05_circle20.py
new file mode 100644
index 0000000..e95d4f4
--- /dev/null
+++ b/robot/problems/introduction/circle20/naloga05_circle20.py
@@ -0,0 +1,13 @@
+#!/usr/bin/python
+
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+fct = 9 # full circle time
+rad = 20 # Direction to make a good radius for the circle
+robot.move_steering( 'on_for_seconds', direction=rad, power=40, seconds=fct )
\ No newline at end of file
diff --git a/robot/problems/introduction/circle20/sl.py b/robot/problems/introduction/circle20/sl.py
new file mode 100644
index 0000000..219f9c7
--- /dev/null
+++ b/robot/problems/introduction/circle20/sl.py
@@ -0,0 +1,26 @@
+# coding=utf-8
+
+id = 205
+name = 'Krog 20 cm'
+slug = 'Krog 20 cm'
+
+description = '''\
+<p>Napiši program, s katerim bo robot enkrat prevozil krog s polmerom 20 cm in se nato ustavil.</p>'''
+
+hint = {
+   'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteering':['''<p>Sinhroniziraj motorja in ju zaženi za 3 sekunde.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( ... )</code>.</p>'''],
+    'onForSeconds':['''<p>Prvi argument metode <code>robot.move_steering</code> naj pove, da bo delovanje motorjev časovno omejeno.</p>''',
+                    '''<p><code>robot.move_steering('on_for_seconds', ... )</code>.</p>'''],
+    'direction':['''<p>Navedi smer premikanja motorjev; pozitivne vrednosti pomenijo zavoj v desno.</p>''',
+                 '''<p>Določi vrednost parametra direction tako, da bo robot krožil po krogu s polmerom 20cm. Vrednost je odvisna od konstrukcije robota in podlage.</p>''',
+                 '''<p><code>robot.move_steering( 'on_for_seconds', direction=20, ... )</code>.</p>'''],
+    'seconds':['''<p>Napiši časovno omejitev v sekundah.</p>''',
+               '''<p>Za dani polmer izmeri čas, ki ga robot potrebuje za en obhod.</p>''',
+               '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, seconds=3 )</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/circle20/sl.py~ b/robot/problems/introduction/circle20/sl.py~
new file mode 100644
index 0000000..656253d
--- /dev/null
+++ b/robot/problems/introduction/circle20/sl.py~
@@ -0,0 +1,24 @@
+# coding=utf-8
+
+id = 205
+name = 'Krog 20 cm'
+slug = 'Krog 20 cm'
+
+description = '''\
+<p>Napiši program, s katerim bo robot enkrat prevozil krog s polmerom 20 cm in se nato ustavil.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu moramo priključiti levi motor: <code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu moramo priključiti desni motor: <code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteering':['''<p>Sinhroniziraj motorja in ju zaženi za 3 sekunde.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( ... )</code>.</p>'''],
+    'onForSeconds':['''<p>Prvi argument metode <code>robot.move_steering</code> naj pove, da bo delovanje motorjev časovno omejeno.</p>''',
+                    '''<p><code>robot.move_steering('on_for_seconds', ... )</code>.</p>'''],
+    'direction':['''<p>Navedi smer premikanja motorjev; pozitivne vrednosti pomenijo zavoj v desno.</p>''',
+                 '''<p>Določi vrednost parametra direction tako, da bo robot krožil po krogu s polmerom 20cm. Vrednost je odvisna od konstrukcije robota in podlage.</p>''',
+                 '''<p><code>robot.move_steering( 'on_for_seconds', direction=20, ... )</code>.</p>'''],
+    'seconds':['''<p>Napiši časovno omejitev v sekundah.</p>''',
+               '''<p>Za dani polmer izmeri čas, ki ga robot potrebuje za en obhod.</p>''',
+               '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, seconds=3 )</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/countlines/common.py b/robot/problems/introduction/countlines/common.py
new file mode 100644
index 0000000..29f5383
--- /dev/null
+++ b/robot/problems/introduction/countlines/common.py
@@ -0,0 +1,79 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 206
+group = 'introduction'
+number = 10
+visible = True
+
+solution = '''\
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+color_table = ['none', 'black', 'blue', 'green', 'yellow', 'red', 'white', 'brown']
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'color' )
+
+robot.move_steering( 'on' )
+start = time.time()
+stevec = 0
+color = -1
+while time.time()-start < 2.1:
+    c = robot.color_sensor_measure( 'color' ) # values: 0-7 see the scale above
+    if c!=color:
+        if c!=6 and c!=0:
+            stevec += 1
+        color = c
+robot.move_steering( 'off' )
+print( "Stevilo crt:", stevec )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteeringOn': Hint('moveSteeringOn'),
+    'moveSteeringOff': Hint('moveSteeringOff'),
+    'connectColorSensor': Hint('connectColorSensor'),
+    'colorSensorMeasure': Hint('colorSensorMeasure'),
+    'while': Hint('while')
+}
+
+def hint( code ):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not (has_token_sequence(tokens, ['connect_sensor', '(' ]) and 'color' in code):
+        return [{'id': 'connectColorSensor'}]
+
+    if not (has_token_sequence(tokens, ['move_steering', '(']) and 'on' in code):
+        return [{'id': 'moveSteeringOn'}]
+
+    if not (has_token_sequence(tokens, ['move_steering', '(']) and 'off' in code):
+        return [{'id': 'moveSteeringOff'}]
+
+    if not (has_token_sequence(tokens, ['color_sensor_measure', '(']) and 'color' in code):
+        return [{'id': 'colorSensorMeasure'}]
+    
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/countlines/common.py~ b/robot/problems/introduction/countlines/common.py~
new file mode 100644
index 0000000..6e5d135
--- /dev/null
+++ b/robot/problems/introduction/countlines/common.py~
@@ -0,0 +1,79 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 206
+group = 'introduction'
+number = 10
+visible = True
+
+solution = '''\
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+color_table = ['none', 'black', 'blue', 'green', 'yellow', 'red', 'white', 'brown']
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'color' )
+
+robot.move_steering( 'on' )
+start = time.time()
+stevec = 0
+color = -1
+while time.time()-start < 2.1:
+    c = robot.color_sensor_measure( 'color' ) # values: 0-7 see the scale above
+    if c!=color:
+        if c!=6 and c!=0:
+            stevec += 1
+        color = c
+robot.move_steering( 'off' )
+print( "Stevilo crt:", stevec )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteeringOn': Hint('moveSteeringOn'),
+    'moveSteeringOff': Hint('moveSteeringOff'),
+    'connectColorSensor': Hint('connectColorSensor'),
+    'colorSensorMeasure': Hint('colorSensorMeasure'),
+    'while': Hint('while')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not (has_token_sequence(tokens, ['connect_sensor', '(' ]) and 'color' in code):
+        return [{'id': 'connectColorSensor'}]
+
+    if not has_token_sequence(tokens, ['move_steering', '(', 'on', ')']):
+        return [{'id': 'moveSteeringOn'}]
+
+    if not has_token_sequence(tokens, ['move_steering', '(', 'off', ')']):
+        return [{'id': 'moveSteeringOff'}]
+
+    if not (has_token_sequence(tokens, ['color_sensor_measure', '(']) and 'color' in code):
+        return [{'id': 'colorSensorMeasure'}]
+    
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/countlines/en.py b/robot/problems/introduction/countlines/en.py
new file mode 100644
index 0000000..8b3b275
--- /dev/null
+++ b/robot/problems/introduction/countlines/en.py
@@ -0,0 +1,14 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 206
+name = 'Count lines'
+slug = 'Count lines'
+
+description = '''\
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/countlines/naloga10_countLines.py b/robot/problems/introduction/countlines/naloga10_countLines.py
new file mode 100644
index 0000000..d1a8326
--- /dev/null
+++ b/robot/problems/introduction/countlines/naloga10_countLines.py
@@ -0,0 +1,37 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print """
+Naloga 10:
+   Robot naj se pelje naravnost, pravokotno na crte in naj jih presteje.
+"""
+
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+color_table = ['none', 'black', 'blue', 'green', 'yellow', 'red', 'white', 'brown']
+
+cs     = color_sensor()
+assert cs.connected
+cs.mode = 'COL-COLOR' # values: 0-7 see the scale above
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+power = 30
+
+robot.move_tank( 'on', lr_power=[power,power])
+start = time.time()
+stevec = 0
+color = -1
+while time.time()-start < 2.1:
+    c = cs.value()
+    if c!=color:
+        print c, color_table[c]
+        if c!=6 and c!=0:
+            stevec += 1
+        color = c
+robot.move_tank( 'off', brake_at_end=True )
+print "Stevilo crt:", stevec
\ No newline at end of file
diff --git a/robot/problems/introduction/countlines/sl.py b/robot/problems/introduction/countlines/sl.py
new file mode 100644
index 0000000..4e1c3d4
--- /dev/null
+++ b/robot/problems/introduction/countlines/sl.py
@@ -0,0 +1,26 @@
+# coding=utf-8
+
+name = 'Preštej črte'
+slug = 'Preštej črte'
+
+description = '''\
+<p>Robot naj pelje naravnost, pravokotno na črte in naj jih prešteje.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteeringOn':['''<p>Sinhroniziraj motorja in ju zaženi.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( 'on' )</code>.</p>'''],
+    'moveSteeringOff':['''<p>Ustavi motorja.</p>''',
+                    '''<p><code>robot.move_steering( 'off' )</code>.</p>'''],
+    'connectColorSensor':['''<p>Robotu moramo priključiti barvni senzor.</p>''',
+                    '''<p><code>robot.connect_sensor( 'color' )</code>.</p>'''],
+    'colorSensorMeasure':['''<p>Medtem ko se robot pomika naprej, naj uporabi barvni senzor v načinu 'color', s katerim pove, katero barvo trenutno vidi.</p>''',
+                    '''<p><code>robot.color_sensor_measure( 'color' )</code>.</p>'''],
+    'while':['''<p>Uporabi zanko, znotraj katere robot odčitava barve in povečuje števec.</p>''',
+             '''<p>Zanka je lahko časovno omejena, npr. z uporabo metode <code>time.time()</code>.</p>''',
+             '''<p><code>while time.time()-start < 1.1:</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/countlines/sl.py~ b/robot/problems/introduction/countlines/sl.py~
new file mode 100644
index 0000000..6b759ad
--- /dev/null
+++ b/robot/problems/introduction/countlines/sl.py~
@@ -0,0 +1,29 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'sl')
+
+id = 206
+name = 'Preštej črte'
+slug = 'Preštej črte'
+
+description = '''\
+<p>Robot naj pelje naravnost, pravokotno na črte in naj jih prešteje.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteeringOn':['''<p>Sinhroniziraj motorja in ju zaženi.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( 'on' )</code>.</p>'''],
+    'moveSteeringOff':['''<p>Ustavi motorja.</p>''',
+                    '''<p><code>robot.move_steering( 'off' )</code>.</p>'''],
+    'connectColorSensor':['''<p>Robotu moramo priključiti barvni senzor.</p>''',
+                    '''<p><code>robot.connect_sensor( 'color' )</code>.</p>'''],
+    'colorSensorMeasure':['''<p>Medtem ko se robot pomika naprej, naj uporabi barvni senzor v načinu 'color', s katerim pove, katero barvo trenutno vidi.</p>''',
+                    '''<p><code>robot.color_sensor_measure( 'color' )</code>.</p>'''],
+    'while':['''<p>Uporabi zanko, znotraj katere robot odčitava barve in povečuje števec.</p>''',
+             '''<p>Zanka je lahko časovno omejena, npr. z uporabo metode <code>time.time()</code>.</p>''',
+             '''<p><code>while time.time()-start < 1.1:</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/followline/common.py b/robot/problems/introduction/followline/common.py
new file mode 100644
index 0000000..0fc6704
--- /dev/null
+++ b/robot/problems/introduction/followline/common.py
@@ -0,0 +1,85 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 207
+group = 'introduction'
+number = 12
+visible = True
+
+solution = '''\
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'color' )
+
+start = time.time()
+while time.time()-start < 10:
+    if robot.color_sensor_measure('reflected_light_intensity') < 30:
+        L, R = 0, 20
+    else:
+        L, R = 20, 0
+    robot.move_tank( 'on', lr_power=[L,R])
+robot.move_tank( 'off' )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveTankOn': Hint('moveTankOn'),
+    'lrPower': Hint('lr_power'),
+    'moveTankOff': Hint('moveTankOff'),
+    'connectColorSensor': Hint('connectColorSensor'),
+    'colorSensorMeasureRLI': Hint('colorSensorMeasureRLI'),
+    'while': Hint('while'),
+    'time': Hint('time'),
+    'if': Hint('if')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not (has_token_sequence(tokens, ['connect_sensor', '(' ]) and 'color' in code):
+        return [{'id': 'connectColorSensor'}]
+
+    if not (has_token_sequence(tokens, ['move_steering', '(']) and 'on' in code):
+        return [{'id': 'moveTankOn'}]
+
+    if not 'lr_power' in code:
+        return [{'id': 'lrPower'}]
+
+    if not (has_token_sequence(tokens, ['move_steering', '(']) and 'off' in code):
+        return [{'id': 'moveTankOff'}]
+	
+	if not (has_token_sequence(tokens, ['color_sensor_measure', '(']) and 'reflected_light_intensity' in code):
+        return [{'id': 'colorSensorMeasureRLI'}]
+    
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    if not has_token_sequence(tokens, ['time']):
+        return [{'id': 'time'}]
+    
+    if not has_token_sequence(tokens, ['if']):
+        return [{'id': 'if'}]
+    
+    return None
diff --git a/robot/problems/introduction/followline/common.py~ b/robot/problems/introduction/followline/common.py~
new file mode 100644
index 0000000..5a3db5b
--- /dev/null
+++ b/robot/problems/introduction/followline/common.py~
@@ -0,0 +1,85 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 207
+group = 'introduction'
+number = 12
+visible = True
+
+solution = '''\
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'color' )
+
+start = time.time()
+while time.time()-start < 10:
+    if robot.color_sensor_measure('reflected_light_intensity') < 30:
+        L, R = 0, 20
+    else:
+        L, R = 20, 0
+    robot.move_tank( 'on', lr_power=[L,R])
+robot.move_tank( 'off' )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveTankOn': Hint('moveTankOn'),
+    'lrPower': Hint('lr_power'),
+    'moveTankOff': Hint('moveTankOff'),
+    'connectColorSensor': Hint('connectColorSensor'),
+    'colorSensorMeasureRLI': Hint('colorSensorMeasureRLI'),
+    'while': Hint('while'),
+    'time': Hint('time'),
+    'if': Hint('if')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['connect_sensor', '(', 'color', ')' ]):
+        return [{'id': 'connectColorSensor'}]
+
+    if not has_token_sequence(tokens, ['move_tank', '(', 'on', ')']):
+        return [{'id': 'moveTankOn'}]
+
+    if not has_token_sequence(tokens, ['lr_power']):
+        return [{'id': 'lrPower'}]
+
+    if not has_token_sequence(tokens, ['move_tank', '(', 'off', ')']):
+        return [{'id': 'moveTankOff'}]
+
+    if not has_token_sequence(tokens, ['color_sensor_measure', '(', 'reflected_light_intensity', ')']):
+        return [{'id': 'colorSensorMeasureRLI'}]
+    
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    if not has_token_sequence(tokens, ['time']):
+        return [{'id': 'time'}]
+    
+    if not has_token_sequence(tokens, ['if']):
+        return [{'id': 'if'}]
+    
+    return None
diff --git a/robot/problems/introduction/followline/en.py b/robot/problems/introduction/followline/en.py
new file mode 100644
index 0000000..3f816fe
--- /dev/null
+++ b/robot/problems/introduction/followline/en.py
@@ -0,0 +1,14 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 207
+name = 'Line following'
+slug = 'Line following'
+
+description = '''\
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/followline/naloga12_followLine.py b/robot/problems/introduction/followline/naloga12_followLine.py
new file mode 100644
index 0000000..347e89e
--- /dev/null
+++ b/robot/problems/introduction/followline/naloga12_followLine.py
@@ -0,0 +1,31 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print( """
+Naloga 12:
+   Robot naj 10 sekund sledi crni crti na beli podlagi; pri tem naj si pomaga z barvnim senzorjem.
+""")
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'color' )
+
+start = time.time()
+# CALIBRATION
+# print 'black', robot.color_sensor_measure('reflected_light_intensity')
+# print "move to white"
+# time.sleep(5)
+# print 'white', robot.color_sensor_measure('reflected_light_intensity')
+while time.time()-start < 10:
+    if robot.color_sensor_measure('reflected_light_intensity') < 30:
+        L, R = 0, 20
+    else:
+        L, R = 20, 0
+    robot.move_tank( 'on', lr_power=[L,R])
+robot.move_tank( 'off' )
diff --git a/robot/problems/introduction/followline/sl.py b/robot/problems/introduction/followline/sl.py
new file mode 100644
index 0000000..848fe2b
--- /dev/null
+++ b/robot/problems/introduction/followline/sl.py
@@ -0,0 +1,34 @@
+# coding=utf-8
+
+name = 'Sledenje črti'
+slug = 'Sledenje črti'
+
+description = '''\
+<p>Robot naj 10 sekund sledi črni črti na beli podlagi; pri tem naj si pomaga z barvnim senzorjem.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    
+    'moveTankOn':['''<p>Uporabi metodo za ločen nadzor motorjev, s katero vsakemu od motorjev nastavljaš drugačno moč.</p>''',
+                    '''<p>Za to je najbolj primerna metoda <code>robot.move_tank( ... )</code>.</p>''',
+                    '''<p><code>robot.move_tank( 'on', ...)</code></p>'''],
+    'lrPower': ['''<p>Nastavi parameter s katerim nastaviš moči levega in desnega motorja.</p>''',
+                '''<p><code>robot.move_tank( 'on', lr_power=[ ... ])</code></p>'''],
+    'moveTankOff': ['''Ustavi robota.''',
+                    '''<p><code>robot.move_tank( 'off' )</code></p>'''],    
+    'connectColorSensor':['''<p>Robotu moramo priključiti barvni senzor.</p>''',
+                    '''<p><code>robot.connect_sensor( 'color' )</code>.</p>'''],
+    'colorSensorMeasureRLI':['''<p>Medtem ko se robot pomika naprej, naj uporabi barvni senzor v načinu 'reflected_light_intensity', za zaznavanje jakosti odbite svetlobe.</p>''',
+                    '''<p><code>robot.color_sensor_measure( 'reflected_light_intensity' )</code>.</p>'''],
+    'while':['''<p>Uporabi zanko, znotraj katere robot sledi črti.</p>''',
+             '''<p>Zanka naj bo časovno omejena, npr. z uporabo metode <code>time.time()</code>.</p>''',
+             '''<p><code>start = time.time()\nwhile time.time()-start < 10:</code>.</p>'''],
+    'time': ['''Uporabi metodo time() za merjenje časa.''',
+             '''<p><code>start = time.time()\nwhile time.time()-start < 10:</code></p>'''],
+    'if': ['''<p>V zanki uporabi pogojni stavek...</p>''',
+           '''<p>Če robot vidi črto, naj zavije z nje; če vidi podlago, naj zavije proti črti.</p>''']
+}
diff --git a/robot/problems/introduction/followline/sl.py~ b/robot/problems/introduction/followline/sl.py~
new file mode 100644
index 0000000..5d201fe
--- /dev/null
+++ b/robot/problems/introduction/followline/sl.py~
@@ -0,0 +1,35 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'sl')
+
+id = 207
+name = 'Sledenje črti'
+slug = 'Sledenje črti'
+
+description = '''\
+<p>Robot naj 10 sekund sledi črni črti na beli podlagi; pri tem naj si pomaga z barvnim senzorjem.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu moramo priključiti levi motor: <code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu moramo priključiti desni motor: <code>robot.connect_motor( 'right' )</code>.</p>'''],    
+    
+    'moveTankOn':['''<p>Uporabi metodo za ločen nadzor motorjev, s katero vsakemu od motorjev nastavljaš drugačno moč.</p>''',
+                    '''<p>Za to je najbolj primerna metoda <code>robot.move_tank( ... )</code>.</p>''',
+                    '''<p><code>robot.move_tank( 'on', ...)</code></p>'''],
+    'lrPower': ['''<p>Nastavi parameter s katerim nastaviš moči levega in desnega motorja.</p>''',
+                '''<p><code>robot.move_tank( 'on', lr_power=[ ... ])</code></p>'''],
+    'moveTankOff': ['''Ustavi robota.''',
+                    '''<p><code>robot.move_tank( 'off' )</code></p>'''],    
+    'connectColorSensor':['''<p>Robotu moramo priključiti barvni senzor.</p>''',
+                    '''<p><code>robot.connect_sensor( 'color' )</code>.</p>'''],
+    'colorSensorMeasureRLI':['''<p>Medtem ko se robot pomika naprej, naj uporabi barvni senzor v načinu 'reflected_light_intensity', za zaznavanje jakosti odbite svetlobe.</p>''',
+                    '''<p><code>robot.color_sensor_measure( 'reflected_light_intensity' )</code>.</p>'''],
+    'while':['''<p>Uporabi zanko, znotraj katere robot sledi črti.</p>''',
+             '''<p>Zanka naj bo časovno omejena, npr. z uporabo metode <code>time.time()</code>.</p>''',
+             '''<p><code>start = time.time()\nwhile time.time()-start < 10:</code>.</p>'''],
+    'time': ['''Uporabi metodo time() za merjenje časa.''',
+             '''<p><code>start = time.time()\nwhile time.time()-start < 10:</code></p>'''],
+    'if': ['''<p>V zanki uporabi pogojni stavek...</p>''',
+           '''<p>Če robot vidi črto, naj zavije z nje; če vidi podlago, naj zavije proti črti.</p>''']
+}
\ No newline at end of file
diff --git a/robot/problems/introduction/forward/common.py b/robot/problems/introduction/forward/common.py
index f6330fd..b3fa8a9 100644
--- a/robot/problems/introduction/forward/common.py
+++ b/robot/problems/introduction/forward/common.py
@@ -9,7 +9,6 @@ number = 1
 visible = True
 
 solution = '''\
-import time
 from ev3dev import *
 from mindstorms_widgets import mindstorms_widgets
 
@@ -48,13 +47,13 @@ def hint( code):
     if not has_token_sequence(tokens, ['move_steering']):
         return [{'id': 'moveSteering'}]
 
-    if not has_token_sequence(tokens, ['on_for_seconds']):
+    if not 'on_for_seconds' in code:
         return [{'id': 'onForSeconds'}]
     
-    if not has_token_sequence(tokens, ['direction']):
+    if not 'direction' in code:
         return [{'id': 'direction'}]
     
-    if not has_token_sequence(tokens, ['seconds']):
+    if not 'seconds' in code:
         return [{'id': 'seconds'}]
 
     return None
diff --git a/robot/problems/introduction/forward/common.py~ b/robot/problems/introduction/forward/common.py~
new file mode 100644
index 0000000..f6330fd
--- /dev/null
+++ b/robot/problems/introduction/forward/common.py~
@@ -0,0 +1,60 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 202
+number = 1
+visible = True
+
+solution = '''\
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+robot.move_steering( 'on_for_seconds', direction=0, seconds=3 )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteering': Hint('moveSteering'),
+    'onForSeconds': Hint('onForSeconds'),
+    'direction': Hint('direction'),
+    'seconds': Hint('seconds'),
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['move_steering']):
+        return [{'id': 'moveSteering'}]
+
+    if not has_token_sequence(tokens, ['on_for_seconds']):
+        return [{'id': 'onForSeconds'}]
+    
+    if not has_token_sequence(tokens, ['direction']):
+        return [{'id': 'direction'}]
+    
+    if not has_token_sequence(tokens, ['seconds']):
+        return [{'id': 'seconds'}]
+
+    return None
diff --git a/robot/problems/introduction/forward/en.py~ b/robot/problems/introduction/forward/en.py~
new file mode 100644
index 0000000..4337ac5
--- /dev/null
+++ b/robot/problems/introduction/forward/en.py~
@@ -0,0 +1,20 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+<<<<<<< HEAD
+id = 202
+name = 'Forward 3s'
+slug = 'Forward 3s'
+=======
+name = 'Forward'
+slug = 'Forward'
+>>>>>>> 5a01c2bb184152c6ccc3c536e9b857d247bc55ad
+
+description = '''\
+<p>Write a program that would make the robot drive straight forward for 3 seconds and stop</p>
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/forward/sl.py b/robot/problems/introduction/forward/sl.py
index 837380b..a6f7e86 100644
--- a/robot/problems/introduction/forward/sl.py
+++ b/robot/problems/introduction/forward/sl.py
@@ -8,8 +8,10 @@ description = '''\
 
 hint = {
     'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
-    'connectMotorLeft':['''<p>Robotu moramo priključiti levi motor: <code>robot.connect_motor( 'left' )</code>.</p>'''],
-    'connectMotorRight':['''<p>Robotu moramo priključiti desni motor: <code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
     'moveSteering':['''<p>Sinhroniziraj motorja in ju zaženi za 3 sekunde.</p>''',
                     '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( ... )</code>.</p>'''],
     'onForSeconds':['''<p>Prvi argument metode <code>robot.move_steering</code> naj pove, da bo delovanje motorjev časovno omejeno.</p>''',
diff --git a/robot/problems/introduction/forward/sl.py~ b/robot/problems/introduction/forward/sl.py~
new file mode 100644
index 0000000..a6f7e86
--- /dev/null
+++ b/robot/problems/introduction/forward/sl.py~
@@ -0,0 +1,23 @@
+# coding=utf-8
+
+name = 'Naprej 3s'
+slug = 'Naprej 3s'
+
+description = '''\
+<p>Napiši program, da bo robot peljal naravnost naprej 3 sekunde in se nato ustavil.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteering':['''<p>Sinhroniziraj motorja in ju zaženi za 3 sekunde.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( ... )</code>.</p>'''],
+    'onForSeconds':['''<p>Prvi argument metode <code>robot.move_steering</code> naj pove, da bo delovanje motorjev časovno omejeno.</p>''',
+                    '''<p><code>robot.move_steering('on_for_seconds', ... )</code>.</p>'''],
+    'direction':['''<p>Navedi smer premikanja motorjev, naravnost = 0.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, ... )</code>.</p>'''],
+    'seconds':['''<p>Napiši časovno omejitev v sekundah.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, seconds=3 )</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/forward1m/common.py b/robot/problems/introduction/forward1m/common.py
new file mode 100644
index 0000000..ea2f7a0
--- /dev/null
+++ b/robot/problems/introduction/forward1m/common.py
@@ -0,0 +1,60 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 208
+group = 'introduction'
+number = 2
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+robot.move_steering( 'on_for_rotations', direction=0, rotations=5.71 )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteering': Hint('moveSteering'),
+    'onForRotations': Hint('onForRotations'),
+    'direction': Hint('direction'),
+    'rotations': Hint('rotations'),
+}
+
+def hint(code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['move_steering']):
+        return [{'id': 'moveSteering'}]
+
+    if not 'on_for_rotations' in code:
+        return [{'id': 'onForRotations'}]
+    
+    if not 'direction' in code:
+        return [{'id': 'direction'}]
+    
+    if not 'rotations' in code:
+        return [{'id': 'rotations'}]
+
+    return None
diff --git a/robot/problems/introduction/forward1m/common.py~ b/robot/problems/introduction/forward1m/common.py~
new file mode 100644
index 0000000..809fe9d
--- /dev/null
+++ b/robot/problems/introduction/forward1m/common.py~
@@ -0,0 +1,61 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 208
+group = 'introduction'
+number = 2
+visible = True
+
+solution = '''\
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+robot.move_steering( 'on_for_rotations', direction=0, rotations=5.71 )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteering': Hint('moveSteering'),
+    'onForRotations': Hint('onForRotations'),
+    'direction': Hint('direction'),
+    'rotations': Hint('rotations'),
+}
+
+def hint(code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['move_steering']):
+        return [{'id': 'moveSteering'}]
+
+    if not has_token_sequence(tokens, ['on_for_rotations']):
+        return [{'id': 'onForRotations'}]
+    
+    if not has_token_sequence(tokens, ['direction']):
+        return [{'id': 'direction'}]
+    
+    if not has_token_sequence(tokens, ['rotations']):
+        return [{'id': 'rotations'}]
+
+    return None
diff --git a/robot/problems/introduction/forward1m/en.py b/robot/problems/introduction/forward1m/en.py
new file mode 100644
index 0000000..bdf2a45
--- /dev/null
+++ b/robot/problems/introduction/forward1m/en.py
@@ -0,0 +1,15 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 208
+name = 'Forward 1m'
+slug = 'Forward 1m'
+
+description = '''\
+
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/forward1m/sl.py b/robot/problems/introduction/forward1m/sl.py
new file mode 100644
index 0000000..8045d58
--- /dev/null
+++ b/robot/problems/introduction/forward1m/sl.py
@@ -0,0 +1,23 @@
+# coding=utf-8
+
+name = 'Naprej 1m'
+slug = 'Naprej 1m'
+
+description = '''\
+<p>Napiši program, da bo robot peljal naravnost naprej 3 sekunde in se nato ustavil.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteering':['''<p>Sinhroniziraj motorja in ju zaženi za 3 sekunde.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( ... )</code>.</p>'''],
+    'onForRotations':['''<p>Prvi argument metode <code>robot.move_steering</code> naj pove, da bo delovanje motorjev določeno s številom obratov.</p>''',
+                    '''<p><code>robot.move_steering('on_for_rotations', ... )</code>.</p>'''],
+    'direction':['''<p>Navedi smer premikanja motorjev, naravnost = 0.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_rotations', direction=0, ... )</code>.</p>'''],
+    'rotations':['''<p>Določi število obratov; za koliko obratov naj se zavrtita motorja? Izmeri dolžino 1m, izpisuj obrate <code>print(robot.motor['left'].count_per_rot, robot.motor['right'].count_per_rot)</code> in tako določi ustrezno število obratov.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_rotations', direction=0, rotations=5 )</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/forward1m/sl.py~ b/robot/problems/introduction/forward1m/sl.py~
new file mode 100644
index 0000000..e8071ee
--- /dev/null
+++ b/robot/problems/introduction/forward1m/sl.py~
@@ -0,0 +1,24 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'sl')
+
+id = 208
+name = 'Naprej 1m'
+slug = 'Naprej 1m'
+
+description = '''\
+<p>Napiši program, da bo robot peljal naravnost naprej 3 sekunde in se nato ustavil.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu moramo priključiti levi motor: <code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu moramo priključiti desni motor: <code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteering':['''<p>Sinhroniziraj motorja in ju zaženi za 3 sekunde.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( ... )</code>.</p>'''],
+    'onForRotations':['''<p>Prvi argument metode <code>robot.move_steering</code> naj pove, da bo delovanje motorjev določeno s številom obratov.</p>''',
+                    '''<p><code>robot.move_steering('on_for_rotations', ... )</code>.</p>'''],
+    'direction':['''<p>Navedi smer premikanja motorjev, naravnost = 0.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_rotations', direction=0, ... )</code>.</p>'''],
+    'rotations':['''<p>Določi število obratov; za koliko obratov naj se zavrtita motorja? Izmeri dolžino 1m, izpisuj obrate <code>print(robot.motor['left'].count_per_rot, robot.motor['right'].count_per_rot)</code> in tako določi ustrezno število obratov.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_rotations', direction=0, rotations=5 )</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/gyro90/common.py b/robot/problems/introduction/gyro90/common.py
new file mode 100644
index 0000000..b44d15d
--- /dev/null
+++ b/robot/problems/introduction/gyro90/common.py
@@ -0,0 +1,80 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 209
+group = 'introduction'
+number = 7
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+
+robot.gyro_set_mode( 'angle' )
+robot.reset_gyro()
+
+power = 15
+robot.move_tank( 'on', lr_power=[power,-power] )
+while robot.gyro_sensor_measure() < 90:
+    pass
+robot.move_tank( 'off' )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'connectGyro': Hint('connectGyro'),
+    'resetGyro': Hint('resetGyro'),
+    'setGyroMode': Hint('setGyroMode'),
+    'gyroMeasure': Hint('gyroMeasure'),
+    'moveTank': Hint('moveTank'),
+    'lrPower': Hint('lrPower'),
+    'while': Hint('while')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not (has_token_sequence(tokens, ['connect_gyro','(']) and 'gyro' in code):
+        return [{'id': 'connectGyro'}]
+    
+    if not has_token_sequence(tokens, ['reset_gyro()']):
+        return [{'id': 'resetGyro'}]
+
+    if not has_token_sequence(tokens, ['gyro_set_mode']):
+        return [{'id': 'setGyroMode'}]
+
+    if not has_token_sequence(tokens, ['gyro_sensor_measure()']):
+        return [{'id': 'gyroMeasure'}]
+
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+    
+    if not 'lr_power' in code:
+        return [{'id': 'lrPower'}]
+
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/gyro90/common.py~ b/robot/problems/introduction/gyro90/common.py~
new file mode 100644
index 0000000..c02a2c4
--- /dev/null
+++ b/robot/problems/introduction/gyro90/common.py~
@@ -0,0 +1,80 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 209
+group = 'introduction'
+number = 7
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+
+robot.gyro_set_mode( 'angle' )
+robot.reset_gyro()
+
+power = 15
+robot.move_tank( 'on', lr_power=[power,-power] )
+while robot.gyro_sensor_measure() < 90:
+    pass
+robot.move_tank( 'off' )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'connectGyro': Hint('connectGyro'),
+    'resetGyro': Hint('resetGyro'),
+    'setGyroMode': Hint('setGyroMode'),
+    'gyroMeasure': Hint('gyroMeasure'),
+    'moveTank': Hint('moveTank'),
+    'lrPower': Hint('lrPower'),
+    'while': Hint('while')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['connect_gyro','(', 'gyro', ')']):
+        return [{'id': 'connectGyro'}]
+    
+    if not has_token_sequence(tokens, ['reset_gyro()']):
+        return [{'id': 'resetGyro'}]
+
+    if not has_token_sequence(tokens, ['gyro_set_mode']):
+        return [{'id': 'setGyroMode'}]
+
+    if not has_token_sequence(tokens, ['gyro_sensor_measure()']):
+        return [{'id': 'gyroMeasure'}]
+
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+    
+    if not has_token_sequence(tokens, ['lr_power']):
+        return [{'id': 'lrPower'}]
+
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/gyro90/en.py b/robot/problems/introduction/gyro90/en.py
new file mode 100644
index 0000000..12c782c
--- /dev/null
+++ b/robot/problems/introduction/gyro90/en.py
@@ -0,0 +1,15 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 209
+name = 'Gyro 90'
+slug = 'Gyro 90'
+
+description = '''\
+
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/gyro90/naloga07_gyro90.py b/robot/problems/introduction/gyro90/naloga07_gyro90.py
new file mode 100644
index 0000000..84d4ca1
--- /dev/null
+++ b/robot/problems/introduction/gyro90/naloga07_gyro90.py
@@ -0,0 +1,25 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print ("""
+Naloga 7:
+   Robot naj se na mestu obrne za 90 stopinj v desno; pri tem naj si pomaga z ziroskopom.
+""")
+import sys
+sys.path.append('/home/user/codeq')
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+
+robot.gyro_set_mode( 'angle' )
+robot.reset_gyro()
+
+power = 15
+robot.move_tank( 'on', lr_power=[power,-power] )
+while robot.gyro_sensor_measure() < 90:
+    pass
+robot.move_tank( 'off' )
diff --git a/robot/problems/introduction/gyro90/naloga07_gyro90.py~ b/robot/problems/introduction/gyro90/naloga07_gyro90.py~
new file mode 100644
index 0000000..97e42ee
--- /dev/null
+++ b/robot/problems/introduction/gyro90/naloga07_gyro90.py~
@@ -0,0 +1,34 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print """
+Naloga 7:
+   Robot naj se na mestu obrne za 90 stopinj v desno; pri tem naj si pomaga z ziroskopom.
+"""
+
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+gs = gyro_sensor();
+assert gs.connected
+gs.mode = 'GYRO-ANG' # Angle (degrees),	value: (-32768 to 32767)
+
+# for m in us.modes:
+#     print "\t",m
+#exit()
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+power = 15
+robot.move_tank( 'on', lr_power=[power,-power] )
+while gs.value()<90:
+    pass
+robot.move_tank( 'off', brake_at_end=True )
+# print gs.value()
+# gs = gyro_sensor();
+# assert gs.connected
+# gs.mode = 'GYRO-ANG'
+# 
+# print "--->",gs.value()
\ No newline at end of file
diff --git a/robot/problems/introduction/gyro90/sl.py b/robot/problems/introduction/gyro90/sl.py
new file mode 100644
index 0000000..0a82c6d
--- /dev/null
+++ b/robot/problems/introduction/gyro90/sl.py
@@ -0,0 +1,29 @@
+# coding=utf-8
+
+name = 'Žiroskop 90'
+slug = 'Žiroskop 90'
+
+description = '''\
+<p>Robot naj se na mestu obrne za 90 stopinj v desno; pri tem naj si pomaga z žiroskopom.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor.</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor.</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'connectGyro':['''<p>Robotu priključi žiroskop.</p>''',
+                 '''<p><code>robot.connect_sensor( 'gyro' )</code>.</p>'''],
+    'resetGyro':['''<p>Žiroskop na začetku resetiraj.</p>''',
+                 '''<p><code>robot.reset_gyro()</code>.</p>'''],
+    'setGyroMode':['''<p>Žiroskopu nastavi način delovanja na merjenje kotov.</p>''',
+                   '''<p><code>robot.gyro_set_mode('angle')</code>.</p>'''],
+    'gyroMeasure':['''<p>Preberi vrednost žiroskopa.</p>''',
+                   '''<p><code>robot.gyro_sensor_measure()</code>.</p>'''],
+    'lrPower':['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+               '''<p><code>robot.move_tank( 'on', lr_power=[hitrost, -hitrost], ... )</code>.</p>'''],
+    'moveTank':['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>'''],
+    'while':['''<p>Program naj teče dokler je kot zasuka manjši od 90 stopinj.</p>''',
+             '''<p><code>robot.gyro_sensor_measure() < 90:</code></p>'''],
+}
diff --git a/robot/problems/introduction/gyro90/sl.py~ b/robot/problems/introduction/gyro90/sl.py~
new file mode 100644
index 0000000..76939f7
--- /dev/null
+++ b/robot/problems/introduction/gyro90/sl.py~
@@ -0,0 +1,32 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'sl')
+
+id = 209
+name = 'Žiroskop 90'
+slug = 'Žiroskop 90'
+
+description = '''\
+<p>Robot naj se na mestu obrne za 90 stopinj v desno; pri tem naj si pomaga z žiroskopom.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor.</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor.</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'connectGyro':['''<p>Robotu priključi žiroskop.</p>''',
+                 '''<p><code>robot.connect_sensor( 'gyro' )</code>.</p>'''],
+    'resetGyro':['''<p>Žiroskop na začetku resetiraj.</p>''',
+                 '''<p><code>robot.reset_gyro()</code>.</p>'''],
+    'setGyroMode':['''<p>Žiroskopu nastavi način delovanja na merjenje kotov.</p>''',
+                   '''<p><code>robot.gyro_set_mode('angle')</code>.</p>'''],
+    'gyroMeasure':['''<p>Preberi vrednost žiroskopa.</p>''',
+                   '''<p><code>robot.gyro_sensor_measure()</code>.</p>'''],
+    'lrPower':['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+               '''<p><code>robot.move_tank( 'on', lr_power=[hitrost, -hitrost], ... )</code>.</p>'''],
+    'moveTank':['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>'''],
+    'while':['''<p>Program naj teče dokler je kot zasuka manjši od 90 stopinj.</p>''',
+             '''<p><code>robot.gyro_sensor_measure() < 90:</code></p>'''],
+}
\ No newline at end of file
diff --git a/robot/problems/introduction/gyrosquare/common.py b/robot/problems/introduction/gyrosquare/common.py
new file mode 100644
index 0000000..4c06247
--- /dev/null
+++ b/robot/problems/introduction/gyrosquare/common.py
@@ -0,0 +1,103 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 210
+group = 'introduction'
+number = 8
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+
+robot.gyro_set_mode( 'angle' )
+robot.reset_gyro()
+
+power = 20
+def forward_and_turnRight(power, angle):
+    robot.move_steering( 'on_for_seconds', direction=0, power=power, seconds=2 )
+    robot.move_tank( 'on', lr_power=[power,-power] )
+    while robot.gyro_sensor_measure( 'angle' ) < angle:
+        pass    
+    robot.move_tank( 'off' )
+
+forward_and_turnRight(power,  89)
+forward_and_turnRight(power, 179)
+forward_and_turnRight(power, 269)
+forward_and_turnRight(power, 359)
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteering': Hint('moveSteering'),
+    'onForSeconds': Hint('onForSeconds'),
+    'direction': Hint('direction'),
+    'seconds': Hint('seconds'),
+    'connectGyro': Hint('connectGyro'),
+    'resetGyro': Hint('resetGyro'),
+    'setGyroMode': Hint('setGyroMode'),
+    'gyroMeasure': Hint('gyroMeasure'),
+    'moveTank': Hint('moveTank'),
+    'lrPower': Hint('lrPower'),
+    'while': Hint('while')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not (has_token_sequence(tokens, ['connect_gyro','(']) and 'gyro' in code):
+        return [{'id': 'connectGyro'}]
+    
+    if not has_token_sequence(tokens, ['reset_gyro()']):
+        return [{'id': 'resetGyro'}]
+
+    if not has_token_sequence(tokens, ['gyro_set_mode']):
+        return [{'id': 'setGyroMode'}]
+
+    if not has_token_sequence(tokens, ['gyro_sensor_measure()']):
+        return [{'id': 'gyroMeasure'}]
+
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+    
+    if not has_token_sequence(tokens, ['move_steering']):
+        return [{'id': 'moveSteering'}]
+    
+    if not 'on_for_seconds' in code:
+        return [{'id': 'onForSeconds'}]
+    
+    if not 'direction' in code:
+        return [{'id': 'direction'}]
+    
+    if not 'seconds' in code:
+        return [{'id': 'seconds'}]
+    
+    if not 'lr_power' in code:
+        return [{'id': 'lrPower'}]
+
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/gyrosquare/common.py~ b/robot/problems/introduction/gyrosquare/common.py~
new file mode 100644
index 0000000..1c31f92
--- /dev/null
+++ b/robot/problems/introduction/gyrosquare/common.py~
@@ -0,0 +1,103 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 210
+group = 'introduction'
+number = 8
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+
+robot.gyro_set_mode( 'angle' )
+robot.reset_gyro()
+
+power = 20
+def forward_and_turnRight(power, angle):
+    robot.move_steering( 'on_for_seconds', direction=0, power=power, seconds=2 )
+    robot.move_tank( 'on', lr_power=[power,-power] )
+    while robot.gyro_sensor_measure( 'angle' ) < angle:
+        pass    
+    robot.move_tank( 'off' )
+
+forward_and_turnRight(power,  89)
+forward_and_turnRight(power, 179)
+forward_and_turnRight(power, 269)
+forward_and_turnRight(power, 359)
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteering': Hint('moveSteering'),
+    'onForSeconds': Hint('onForSeconds'),
+    'direction': Hint('direction'),
+    'seconds': Hint('seconds'),
+    'connectGyro': Hint('connectGyro'),
+    'resetGyro': Hint('resetGyro'),
+    'setGyroMode': Hint('setGyroMode'),
+    'gyroMeasure': Hint('gyroMeasure'),
+    'moveTank': Hint('moveTank'),
+    'lrPower': Hint('lrPower'),
+    'while': Hint('while')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['connect_gyro','(', 'gyro', ')']):
+        return [{'id': 'connectGyro'}]
+    
+    if not has_token_sequence(tokens, ['reset_gyro()']):
+        return [{'id': 'resetGyro'}]
+
+    if not has_token_sequence(tokens, ['gyro_set_mode']):
+        return [{'id': 'setGyroMode'}]
+
+    if not has_token_sequence(tokens, ['gyro_sensor_measure()']):
+        return [{'id': 'gyroMeasure'}]
+
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+    
+    if not has_token_sequence(tokens, ['move_steering']):
+        return [{'id': 'moveSteering'}]
+    
+    if not 'on_for_seconds' in code:
+        return [{'id': 'onForSeconds'}]
+    
+    if not 'direction' in code:
+        return [{'id': 'direction'}]
+    
+    if not 'seconds' in code:
+        return [{'id': 'seconds'}]
+    
+    if not 'lr_power' in code:
+        return [{'id': 'lrPower'}]
+
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/gyrosquare/en.py b/robot/problems/introduction/gyrosquare/en.py
new file mode 100644
index 0000000..bbd389c
--- /dev/null
+++ b/robot/problems/introduction/gyrosquare/en.py
@@ -0,0 +1,14 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 210
+name = 'Gyro square'
+slug = 'Gyro square'
+
+description = '''\
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/gyrosquare/naloga08_gyroSquare.py b/robot/problems/introduction/gyrosquare/naloga08_gyroSquare.py
new file mode 100644
index 0000000..ec0dd2f
--- /dev/null
+++ b/robot/problems/introduction/gyrosquare/naloga08_gyroSquare.py
@@ -0,0 +1,33 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print ("""
+Naloga 8:
+   Robot naj prevozi kvadrat s stranico 20 cm; pri tem naj si pomaga z ziroskopom.
+""")
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+
+robot.gyro_set_mode( 'angle' )
+robot.reset_gyro()
+
+power = 20
+def forward_and_turnRight(power, angle):
+    robot.move_steering( 'on_for_seconds', direction=0, power=power, seconds=2 )
+    robot.move_tank( 'on', lr_power=[power,-power] )
+    while robot.gyro_sensor_measure( 'angle' ) < angle:
+        pass    
+    robot.move_tank( 'off' )
+
+forward_and_turnRight(power,  89)
+forward_and_turnRight(power, 179)
+forward_and_turnRight(power, 269)
+forward_and_turnRight(power, 359)
diff --git a/robot/problems/introduction/gyrosquare/sl.py b/robot/problems/introduction/gyrosquare/sl.py
new file mode 100644
index 0000000..16b2c94
--- /dev/null
+++ b/robot/problems/introduction/gyrosquare/sl.py
@@ -0,0 +1,38 @@
+# coding=utf-8
+
+name = 'Kvadrat z žiroskopom'
+slug = 'Kvadrat z žiroskopom'
+
+description = '''\
+<p>Robot naj prevozi kvadrat s stranico 20 cm; pri tem naj si pomaga z žiroskopom.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'connectGyro':['''<p>Robotu priključi žiroskop.</p>''',
+                 '''<p><code>robot.connect_sensor( 'gyro' )</code>.</p>'''],
+    'resetGyro':['''<p>Žiroskop na začetku resetiraj.</p>''',
+                 '''<p><code>robot.reset_gyro()</code>.</p>'''],
+    'setGyroMode':['''<p>Žiroskopu nastavi način delovanja na merjenje kotov.</p>''',
+                   '''<p><code>robot.gyro_set_mode('angle')</code>.</p>'''],
+    'gyroMeasure':['''<p>Preberi vrednost žiroskopa.</p>''',
+                   '''<p><code>robot.gyro_sensor_measure()</code>.</p>'''],
+    'lrPower':['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+               '''<p><code>robot.move_tank( 'on', lr_power=[hitrost, -hitrost], ... )</code>.</p>'''],
+    'moveTank':['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>'''],
+    'while':['''<p>Program naj čaka dokler je kot zasuka manjši od 90 stopinj.</p>''',
+             '''<p><code>robot.gyro_sensor_measure() < 90:</code></p>'''],
+    
+    'moveSteering':['''<p>Sinhroniziraj motorja in ju zaženi.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( ... )</code>.</p>'''],
+    'onForSeconds':['''<p>Prvi argument metode <code>robot.move_steering</code> naj pove, da bo delovanje motorjev časovno omejeno.</p>''',
+                    '''<p><code>robot.move_steering('on_for_seconds', ... )</code>.</p>'''],
+    'direction':['''<p>Navedi smer premikanja motorjev, naravnost = 0.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, ... )</code>.</p>'''],
+    'seconds':['''<p>Napiši časovno omejitev v sekundah.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, seconds=3 )</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/gyrosquare/sl.py~ b/robot/problems/introduction/gyrosquare/sl.py~
new file mode 100644
index 0000000..00171e8
--- /dev/null
+++ b/robot/problems/introduction/gyrosquare/sl.py~
@@ -0,0 +1,40 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'sl')
+
+id = 210
+name = 'Kvadrat z žiroskopom'
+slug = 'Kvadrat z žiroskopom'
+
+description = '''\
+<p>Robot naj prevozi kvadrat s stranico 20 cm; pri tem naj si pomaga z žiroskopom.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu moramo priključiti levi motor: <code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu moramo priključiti desni motor: <code>robot.connect_motor( 'right' )</code>.</p>'''],
+    
+    'connectGyro':['''<p>Robotu priključi žiroskop.</p>''',
+                 '''<p><code>robot.connect_sensor( 'gyro' )</code>.</p>'''],
+    'resetGyro':['''<p>Žiroskop na začetku resetiraj.</p>''',
+                 '''<p><code>robot.reset_gyro()</code>.</p>'''],
+    'setGyroMode':['''<p>Žiroskopu nastavi način delovanja na merjenje kotov.</p>''',
+                   '''<p><code>robot.gyro_set_mode('angle')</code>.</p>'''],
+    'gyroMeasure':['''<p>Preberi vrednost žiroskopa.</p>''',
+                   '''<p><code>robot.gyro_sensor_measure()</code>.</p>'''],
+    'lrPower':['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+               '''<p><code>robot.move_tank( 'on', lr_power=[hitrost, -hitrost], ... )</code>.</p>'''],
+    'moveTank':['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>'''],
+    'while':['''<p>Program naj čaka dokler je kot zasuka manjši od 90 stopinj.</p>''',
+             '''<p><code>robot.gyro_sensor_measure() < 90:</code></p>'''],
+    
+    'moveSteering':['''<p>Sinhroniziraj motorja in ju zaženi.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( ... )</code>.</p>'''],
+    'onForSeconds':['''<p>Prvi argument metode <code>robot.move_steering</code> naj pove, da bo delovanje motorjev časovno omejeno.</p>''',
+                    '''<p><code>robot.move_steering('on_for_seconds', ... )</code>.</p>'''],
+    'direction':['''<p>Navedi smer premikanja motorjev, naravnost = 0.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, ... )</code>.</p>'''],
+    'seconds':['''<p>Napiši časovno omejitev v sekundah.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, seconds=3 )</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/inline.py b/robot/problems/introduction/inline.py
new file mode 100644
index 0000000..67a6f06
--- /dev/null
+++ b/robot/problems/introduction/inline.py
@@ -0,0 +1,19 @@
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'ultrasonic' )
+robot.move_steering( 'on', power=80 )
+while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 500:
+	pass
+robot.move_steering( 'on', power=20 )
+while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 200:
+	pass
+robot.move_steering( 'off' )
+'''
+
+print (any(('power' in s and '80' in s and '=' in s) for s in solution.split('\n')))
+
diff --git a/robot/problems/introduction/mindstorms_widgets_OLD.py b/robot/problems/introduction/mindstorms_widgets_OLD.py
new file mode 100644
index 0000000..4151133
--- /dev/null
+++ b/robot/problems/introduction/mindstorms_widgets_OLD.py
@@ -0,0 +1,398 @@
+#!/usr/bin/python
+
+import sys, time
+from ev3dev import *
+# The mindstorms_widgets class is a wrapper for the python-ev3dev
+# language binding.  It implements interfaces that correspond directly
+# to the action and sensor programming blocks (widgets) from the
+# mindstorms LabVIEW software.  This allows leverage from the amazing
+# documentation already provided by Lego.  Some exceptions are:
+# * It doesn't auto-detect the devices.  You need to call
+#   connect_motor or connect_sensor first for each device you use
+# * Only two large motors and one medium motor are supported.
+#   This simplifies the interfaces.  The motors are referenced by
+#   the following names in the interfaces:
+#   'medium' motor, default Port A
+#   'right'  large motor, default Port B
+#   'left'   large motor, default Port C
+# * degrees and rotations inputs must always be positive
+#   use negative power to go backward
+# * Rather than having a separate unregulated_motor widget, regulated is an
+#   an optional input parameter (default = True)
+# * motor_rotation_measure, 'current_power' returns both the duty_cycle_sp
+#   (the actual power level being applied to the motor) and speed_sp
+# * sound includes an option to give a sentence and have the robot speak
+
+# Known issues/limitations
+# * The degrees, rotations, speed and invert values provided as inputs do
+#   not map directly to the values programmed to the sysfs attributes i.e.
+#   if you don't use mindstorm_widgets methods exclusively to control the
+#   motors you will need to explicitly initialize all the relevant sysfs
+#   attributes each time you program the motor from outside mindstorms_widgets
+# * led_flash
+# * no error handling/recovery
+# * volume for tones doesn't work very well (seems to have only 2 levels)
+# * when reading the heading and proximity in beacon mode, ir_sensor_measure
+#   returns good values at first but continuing to poll it seems to result
+#   in inconsistent values
+# * ultrasonic and gyro sensors are not implemented
+
+# Mindstorms uses the following coefficients to compute speed_sp
+# based on a power input in range 0-100 i.e. speed_sp = x * power
+# medium motor: x = 16.4
+# large motor : x = 10.3
+# e.g. power of 10 sets medium motor speed_sp to 160 (deg/sec)
+
+MEDIUM_MOTOR_SPEED_COEFFICIENT = 16.4
+LARGE_MOTOR_SPEED_COEFFICIENT  = 10.3
+
+class mindstorms_widgets:
+    def __init__(self):
+        self.motor = {
+            'medium':None,
+            'left'  :None,
+            'right' :None
+        }
+
+    def _set_motor_attribs( self, size, motors, powers,
+                            invert, regulated, brake_at_end ):
+        # For regulated speed, speed_sp is tacho counts per
+        # second which for lego EV3 motors is also degrees per second.
+        # To provide a mindstorms 0-100 power value for regulated
+        # speed we need to convert it.
+        speed_x = LARGE_MOTOR_SPEED_COEFFICIENT
+        if size == 'medium':
+            speed_x = MEDIUM_MOTOR_SPEED_COEFFICIENT
+
+        for m,p in zip ( motors, powers ):
+            # When using run_forever() the sign of speed_sp or duty_cycle_sp
+            # determines the direction the motor runs.  When using
+            # run_to_rel_pos() the sign of position_sp determines the
+            # direction and the sign of speed_sp/duty_cycle_sp is ignored by
+            # the driver.
+
+            # In either case the polarity reverses the direction.
+
+            # When using move_steering, providing a negative power should
+            # result in reversing along the same path of a positive power
+            # in the same direction.  If the steering is sharp the power of
+            # one motor is opposite sign of the other.
+
+            # This all combines to make for overly complicated logic when the
+            # intent is to set motor attribs independent of knowing what
+            # methods are being used.  To avoid this complexity I devised the
+            # following scheme:
+            # * Use the motor polarity as the common attribute to determine
+            #   direction since it works the same for run_forever() and
+            #   run_to_rel_pos()
+            # * Always program duty_cycle_sp and speed_sp to positive values
+            # * Always program position_sp to a positive value
+            pol = ['normal','inversed']
+            brk = ['coast', 'brake']
+            inv = invert
+            if p < 0:
+                inv = not invert
+                p = abs( p )
+            if m:
+                m.polarity = pol[int( inv )] #e.g. True=1='inversed'
+                m.stop_command = brk[int( brake_at_end )]
+                #print ('speed: '+str(p)+' inv: '+str(inv))
+                if regulated:
+                    m.speed_regulation_enabled = 'on'
+                    m.speed_sp = int( p*speed_x )
+                else:
+                    m.speed_regulation_enabled = 'off'
+                    m.duty_cycle_sp = p
+
+    def _move_wait( self ):
+        # wait for any running motors to finish their movement then stop
+        # all the motors.
+        left_is_off = False
+        right_is_off = False
+        if 'running' not in self.motor['left'].state:
+            left_is_off = True
+        if 'running' not in self.motor['right'].state:
+            right_is_off = True
+        while ((left_is_off or 'running' in self.motor['left'].state) and
+               (right_is_off or 'running' in self.motor['right'].state)):
+            time.sleep(0.1)
+        self.motor['left'].stop()
+        self.motor['right'].stop()
+
+    def _move( self, mode, seconds, degrees, rotations ):
+        if mode == 'off':
+            self.motor['left'].stop()
+            self.motor['right'].stop()
+        elif mode == 'on':
+            self.motor['left'].run_forever()
+            self.motor['right'].run_forever()
+        elif mode == 'on_for_seconds':
+            self.motor['left'].run_forever()
+            self.motor['right'].run_forever()
+            time.sleep(seconds)
+            self.motor['left'].stop()
+            self.motor['right'].stop()
+        elif mode == 'on_for_degrees':
+            self.motor['left'].run_to_rel_pos(position_sp=degrees)
+            self.motor['right'].run_to_rel_pos(position_sp=degrees)
+            self._move_wait()
+        elif mode == 'on_for_rotations':
+            self.motor['left'].run_to_rel_pos( position_sp=int(rotations*360) )
+            self.motor['right'].run_to_rel_pos( position_sp=int(rotations*360) )
+            self._move_wait()
+
+    def _validate_inputs( self, degrees, rotations ):
+        if (degrees < 0 or rotations < 0):
+            print( 'degrees and rotations should be positive. '
+                   'Use negative power to go backward' )
+
+    def _run_motor( self, motor, mode, power,
+                    seconds, degrees, rotations,
+                    invert, regulated, brake_at_end ):
+        self._validate_inputs( degrees, rotations )
+        self._set_motor_attribs( 'medium', [motor], [power], invert, regulated,
+                                 brake_at_end )
+        if mode == 'off':
+            motor.stop()
+        elif mode == 'on':
+            motor.run_forever()
+        elif mode == 'on_for_seconds':
+            motor.run_forever()
+            time.sleep(seconds)
+            motor.stop()
+        elif mode == 'on_for_degrees':
+            motor.run_to_rel_pos(position_sp=degrees)
+            while 'running' in motor.state:
+                time.sleep(0.1)
+        elif motor and mode == 'on_for_rotations':
+            motor.run_to_rel_pos(position_sp=int(rotations*360))
+            while 'running' in motor.state:
+                time.sleep(0.1)
+
+    def _led_pulse( self, color ):
+        # Note that calling flash() multiple times on a LED causes an error
+        # Disable this routine for now
+        return
+
+        if color == 'green':
+            led.green_left.flash( 200, 200 )
+            led.green_right.flash( 200, 200 )
+        elif color == 'orange':
+            led.green_left.flash( 200, 200 )
+            led.red_left.flash( 200, 200 )
+            led.green_right.flash( 200, 200 )
+            led.red_right.flash( 200, 200 )
+        elif color == 'red':
+            led.red_left.flash( 200, 200 )
+            led.red_right.flash( 200, 200 )
+
+
+    # Begin public methods
+
+    def connect_motor( self, motor, port=None ):
+        default_port = {
+            'medium':'A',
+            'left'  :'B',
+            'right' :'C'
+        }
+
+        port_enum = {
+            'A' :OUTPUT_A,
+            'B' :OUTPUT_B,
+            'C' :OUTPUT_C,
+            'D' :OUTPUT_D
+        }
+        if not port:
+            port = default_port[motor]
+        port = port.upper()
+
+        if motor == 'medium':
+            self.motor['medium'] = medium_motor(port_enum[port])
+            if not self.motor['medium'].connected:
+                print("Medium motor not connected to port " + port)
+        elif motor == 'right':
+            self.motor['right'] = large_motor(port_enum[port])
+            if not self.motor['right'].connected:
+                print("Large right motor not connected to port " + port)
+        elif motor == 'left':
+            self.motor['left'] = large_motor(port_enum[port])
+            if not self.motor['left'].connected:
+                print("Large left motor not connected to port " + port)
+
+    def connect_sensor( self, sensor ):
+        if sensor == 'color':
+            self.cs = color_sensor()
+            if not self.cs.connected:
+                print("Color sensor not connected")
+        elif sensor == 'touch':
+            self.ts = touch_sensor()
+            if not self.ts.connected:
+                print("Touch sensor not connected")
+        elif sensor == 'infrared':
+            self.irs = infrared_sensor()
+            if not self.irs.connected:
+                print("Infrared sensor not connected")
+        elif sensor == 'gyro':
+            self.gs = gyro_sensor()
+            if not self.gs.connected:
+                print("Gyro sensor not connected")
+        elif sensor == 'ultrasonic':
+            self.us = ultrasonic_sensor()
+            if not self.us.connected:
+                print("Ultrasonic sensor not connected")
+
+
+    def large_motor( self, motor, mode, power=50,
+                     seconds=0, degrees=0, rotations=0,
+                     invert=False, regulated=True, brake_at_end=True ):
+        self._run_motor( self.motor[motor], mode, power,
+                         seconds, degrees, rotations,
+                         invert, regulated, brake_at_end )
+
+    def medium_motor( self, mode, power=50,
+                      seconds=0, degrees=0, rotations=0,
+                      invert=False, regulated=True, brake_at_end=True ):
+        self._run_motor( self.motor['medium'], mode, power,
+                         seconds, degrees, rotations,
+                         invert, regulated, brake_at_end )
+
+    def move_steering( self, mode, direction=0, power=50,
+                       seconds=0, degrees=0, rotations=0,
+                       invert=False, regulated=True, brake_at_end=True ):
+        '''
+        direction [-100, 100]:
+        * -100 = pivot left i.e. right motor = power
+        *                        left motor  = -power
+        * -50  = sharp left i.e. right motor = power
+        *                        left motor  = 0
+        * -25  = turn  left i.e. right motor = power
+        *                        left motor  = 1/2 power
+        * 0    = straight
+        * 25   = turn right
+        * 50   = sharp right
+        * 100  = pivot right
+        '''
+        self._validate_inputs( degrees, rotations )
+        powers = steering( direction, power )
+        self._set_motor_attribs( 'large',
+                                 [self.motor['left'], self.motor['right']],
+                                 powers, invert, regulated, brake_at_end )
+        self._move( mode, seconds, degrees, rotations )
+
+    def move_tank( self, mode, direction=0, lr_power=None,
+                   seconds=0, degrees=0, rotations=0,
+                   invert=False, regulated=True, brake_at_end=True ):
+        self._validate_inputs( degrees, rotations )
+        if not lr_power:
+            lr_power=[50,50]
+        self._set_motor_attribs( 'large',
+                                 [self.motor['left'], self.motor['right']],
+                                 lr_power, invert, regulated, brake_at_end )
+        self._move( mode, seconds, degrees, rotations )
+
+    def brick_status_light( self, mode, color='green', pulse=False ):
+        led.all_off()
+        if mode == 'on':
+            if color == 'green':
+                led.green_on()
+            elif color == 'orange':
+                led.all_on()
+            elif color == 'red':
+                led.red_on()
+        if mode == 'on' and pulse:
+            self._led_pulse( color )
+            pass
+    # the sensor should be perfectly still while resetting the gyro
+    def resetGyro(self):
+        self.gs.mode = 'GYRO-RATE'
+        self.gs.mode = 'GYRO-ANG'
+
+    def gyro_sensor_measure( self, mode ):
+        if mode == 'angle':
+            self.gs.mode = 'GYRO-ANG' # Angle (degrees),	value: (-32768 to 32767)
+        elif mode == 'rate':
+            self.gs.mode = 'GYRO-RATE'
+        return self.gs.value()
+
+    def ultrasonic_sensor_measure( self, mode ):
+        if mode == 'distance-cm':
+            self.gs.mode = 'US-DIST-CM' # Continuous measurement of distance (0-2550 mm)
+        return self.us.value()
+
+    def color_sensor_measure( self, mode ):
+        if mode == 'color':
+            self.cs.mode = 'COL-COLOR'
+        elif mode == 'reflected_light_intensity':
+            self.cs.mode = 'COL-REFLECT'
+        elif mode == 'ambient_light_intensity':
+            self.cs.mode = 'COL-AMBIENT'
+        return self.cs.value()
+
+    def ir_sensor_measure( self, mode, channel=1 ):
+        # value(n) returns the given value. See
+        # http://www.ev3dev.org/docs/sensors/lego-ev3-infrared-sensor/
+        i = 2*(channel-1)
+        if mode == 'proximity':
+            self.irs.mode = 'IR-PROX'
+            return self.irs.value()
+        elif mode == 'beacon':
+            self.irs.mode = 'IR-SEEK'
+            # (heading, proximity, detected)
+            # heading in range (-25,25)
+            # proximity is -128 or in [0,100]
+            prox = self.irs.value(i+1)
+            return( self.irs.value(i), prox, prox != -128 )
+        elif mode == 'remote':
+            self.irs.mode = 'IR-REMOTE'
+            '''
+            0 = No button (and Beacon Mode is off)
+            1 = Button 1
+            2 = Button 2
+            3 = Button 3
+            4 = Button 4
+            5 = Both Button 1 and Button 3
+            6 = Both Button 1 and Button 4
+            7 = Both Button 2 and Button 3
+            8 = Both Button 2 and Button 4
+            9 = Beacon Mode is on
+            10 = Both Button 1 and Button 2
+            11 = Both Button 3 and Button 4
+            '''
+            return self.irs.value( channel-1 )
+
+
+    def motor_rotation_measure( self, motor, mode ):
+        motor = self.motor[motor]
+        if mode == 'reset':
+            motor.position = 0
+            return None
+        if mode == 'current_power':
+            return (motor.speed, motor.duty_cycle)
+        degrees=motor.position
+        if mode == 'degrees':
+            return degrees
+        elif mode == 'rotations':
+            return degrees/360
+
+    def touch_sensor_measure( self ):
+        return self.ts.value()
+
+    def sound( self, mode, volume=40, hz=523, path=None,
+               sentence=None, duration_ms=200 ):
+        # todo:Volume doesn't seem to work very well for tones.
+        #       0=just a click
+        #       1-49 same loud volume tone
+        #       > 50 same volume really loud tone
+        sound.volume = volume
+        if mode == 'play_file':
+            # Sound.rsf files can be extracted from mindstorms by using the
+            # sound in a mindstorms program then going to mindstorms
+            # project->sounds tab and choosing "export"
+
+            sound.play( path )
+        elif mode == 'play_tone':
+            sound.tone( int(hz), duration_ms )
+        elif mode == 'speak':
+            sound.speak( sentence, True )
+
+
diff --git a/robot/problems/introduction/printcolors/common.py b/robot/problems/introduction/printcolors/common.py
new file mode 100644
index 0000000..54c3cda
--- /dev/null
+++ b/robot/problems/introduction/printcolors/common.py
@@ -0,0 +1,80 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 211
+group = 'introduction'
+number = 9
+visible = True
+
+solution = '''\
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+color_table = ['none', 'black', 'blue', 'green', 'yellow', 'red', 'white', 'brown']
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'color' )
+
+robot.move_steering( 'on')
+start = time.time()
+color = -1
+while time.time()-start < 2.1:
+    c = robot.color_sensor_measure('color')
+    if c!=color:
+        print( c, color_table[c])
+        color = c
+robot.move_steering( 'off' )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteeringOn': Hint('moveSteeringOn'),
+    'moveSteeringOff': Hint('moveSteeringOff'),
+    'connectColorSensor': Hint('connectColorSensor'),
+    'colorSensorMeasure': Hint('colorSensorMeasure'),
+    'while': Hint('while'),
+    'print': Hint('print')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not (has_token_sequence(tokens, ['connect_sensor', '(' ]) and 'color' in code):
+        return [{'id': 'connectColorSensor'}]
+
+    if not (has_token_sequence(tokens, ['move_steering', '(']) and 'on' in code):
+        return [{'id': 'moveSteeringOn'}]
+
+    if not (has_token_sequence(tokens, ['move_steering', '(']) and 'off' in code):
+        return [{'id': 'moveSteeringOff'}]
+
+    if not (has_token_sequence(tokens, ['color_sensor_measure', '(']) and 'color' in code):
+        return [{'id': 'colorSensorMeasure'}]
+    
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+    
+    if not has_token_sequence(tokens, ['print', '(']):
+        return [{'id': 'print'}]
+    
+    return None
diff --git a/robot/problems/introduction/printcolors/common.py~ b/robot/problems/introduction/printcolors/common.py~
new file mode 100644
index 0000000..04ca0d6
--- /dev/null
+++ b/robot/problems/introduction/printcolors/common.py~
@@ -0,0 +1,80 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 211
+group = 'introduction'
+number = 9
+visible = True
+
+solution = '''\
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+color_table = ['none', 'black', 'blue', 'green', 'yellow', 'red', 'white', 'brown']
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'color' )
+
+robot.move_steering( 'on')
+start = time.time()
+color = -1
+while time.time()-start < 2.1:
+    c = robot.color_sensor_measure('color')
+    if c!=color:
+        print( c, color_table[c])
+        color = c
+robot.move_steering( 'off' )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteeringOn': Hint('moveSteeringOn'),
+    'moveSteeringOff': Hint('moveSteeringOff'),
+    'connectColorSensor': Hint('connectColorSensor'),
+    'colorSensorMeasure': Hint('colorSensorMeasure'),
+    'while': Hint('while'),
+    'print': Hint('print')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['connect_sensor', '(', 'color', ')' ]):
+        return [{'id': 'connectColorSensor'}]
+
+    if not has_token_sequence(tokens, ['move_steering', '(', 'on', ')']):
+        return [{'id': 'moveSteeringOn'}]
+
+    if not has_token_sequence(tokens, ['move_steering', '(', 'off', ')']):
+        return [{'id': 'moveSteeringOff'}]
+
+    if not has_token_sequence(tokens, ['color_sensor_measure', '(', 'color', ')']):
+        return [{'id': 'colorSensorMeasure'}]
+    
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+    
+    if not has_token_sequence(tokens, ['print', '(']):
+        return [{'id': 'print'}]
+    
+    return None
\ No newline at end of file
diff --git a/robot/problems/introduction/printcolors/en.py b/robot/problems/introduction/printcolors/en.py
new file mode 100644
index 0000000..bb57c9a
--- /dev/null
+++ b/robot/problems/introduction/printcolors/en.py
@@ -0,0 +1,15 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 211
+name = 'Color detection'
+slug = 'Color detection'
+
+description = '''\
+
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/printcolors/naloga09_printColors.py b/robot/problems/introduction/printcolors/naloga09_printColors.py
new file mode 100644
index 0000000..59dfdb0
--- /dev/null
+++ b/robot/problems/introduction/printcolors/naloga09_printColors.py
@@ -0,0 +1,42 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print ("""
+Naloga 9:
+   Robot naj se pelje cez barvne crte in na zaslon izpise barvo, ki jo zazna s svetlobnim senzorjem.
+     Value	Color
+       0	none
+       1	black
+       2	blue
+       3	green
+       4	yellow
+       5	red
+       6	white
+       7	brown
+""")
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+color_table = ['none', 'black', 'blue', 'green', 'yellow', 'red', 'white', 'brown']
+
+#cs     = color_sensor()
+#assert cs.connected
+#cs.mode = 'COL-COLOR' # values: 0-7 see the scale above
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'color' )
+
+robot.move_steering( 'on')
+start = time.time()
+color = -1
+while time.time()-start < 2.1:
+    c = robot.color_sensor_measure('color')
+    if c!=color:
+        print( c, color_table[c])
+        color = c
+robot.move_steering( 'off' )
diff --git a/robot/problems/introduction/printcolors/sl.py b/robot/problems/introduction/printcolors/sl.py
new file mode 100644
index 0000000..d233b0e
--- /dev/null
+++ b/robot/problems/introduction/printcolors/sl.py
@@ -0,0 +1,36 @@
+# coding=utf-8
+
+name = 'Zaznavanje barv'
+slug = 'Zaznavanje barv'
+
+description = '''\
+<p>Robot naj se pelje čez barvne črte in na zaslon izpiše barvo, ki jo zazna s svetlobnim senzorjem.
+     Value	Color
+       0	none
+       1	black
+       2	blue
+       3	green
+       4	yellow
+       5	red
+       6	white
+       7	brown</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteeringOn':['''<p>Sinhroniziraj motorja in ju zaženi.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( 'on' )</code>.</p>'''],
+    'moveSteeringOff':['''<p>Ustavi motorja.</p>''',
+                    '''<p><code>robot.move_steering( 'off' )</code>.</p>'''],
+    'connectColorSensor':['''<p>Robotu moramo priključiti barvni senzor.</p>''',
+                    '''<p><code>robot.connect_sensor( 'color' )</code>.</p>'''],
+    'colorSensorMeasure':['''<p>Medtem ko se robot pomika naprej, naj uporabi barvni senzor v načinu 'color', s katerim pove, katero barvo trenutno vidi.</p>''',
+                    '''<p><code>robot.color_sensor_measure( 'color' )</code>.</p>'''],
+    'while':['''<p>Uporabi zanko, znotraj katere robot odčitava barve in povečuje števec.</p>''',
+             '''<p>Zanka je lahko časovno omejena, npr. z uporabo metode <code>time.time()</code>.</p>''',
+             '''<p><code>while time.time()-start < 1.1:</code>.</p>'''],
+    'print':['''<p>V zanki na zaslon izpisuj barvo, ki jo zazna robot.</p>''']
+}
diff --git a/robot/problems/introduction/printcolors/sl.py~ b/robot/problems/introduction/printcolors/sl.py~
new file mode 100644
index 0000000..9d5ec21
--- /dev/null
+++ b/robot/problems/introduction/printcolors/sl.py~
@@ -0,0 +1,37 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'sl')
+
+id = 211
+name = 'Zaznavanje barv'
+slug = 'Zaznavanje barv'
+
+description = '''\
+<p>Robot naj se pelje čez barvne črte in na zaslon izpiše barvo, ki jo zazna s svetlobnim senzorjem.
+     Value	Color
+       0	none
+       1	black
+       2	blue
+       3	green
+       4	yellow
+       5	red
+       6	white
+       7	brown</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu moramo priključiti levi motor: <code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu moramo priključiti desni motor: <code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteeringOn':['''<p>Sinhroniziraj motorja in ju zaženi.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( 'on' )</code>.</p>'''],
+    'moveSteeringOff':['''<p>Ustavi motorja.</p>''',
+                    '''<p><code>robot.move_steering( 'off' )</code>.</p>'''],
+    'connectColorSensor':['''<p>Robotu moramo priključiti barvni senzor.</p>''',
+                    '''<p><code>robot.connect_sensor( 'color' )</code>.</p>'''],
+    'colorSensorMeasure':['''<p>Medtem ko se robot pomika naprej, naj uporabi barvni senzor v načinu 'color', s katerim pove, katero barvo trenutno vidi.</p>''',
+                    '''<p><code>robot.color_sensor_measure( 'color' )</code>.</p>'''],
+    'while':['''<p>Uporabi zanko, znotraj katere robot odčitava barve in povečuje števec.</p>''',
+             '''<p>Zanka je lahko časovno omejena, npr. z uporabo metode <code>time.time()</code>.</p>''',
+             '''<p><code>while time.time()-start < 1.1:</code>.</p>'''],
+    'print':['''<p>V zanki na zaslon izpisuj barvo, ki jo zazna robot.</p>''']
+}
\ No newline at end of file
diff --git a/robot/problems/introduction/rotateback/common.py b/robot/problems/introduction/rotateback/common.py
new file mode 100644
index 0000000..c009d37
--- /dev/null
+++ b/robot/problems/introduction/rotateback/common.py
@@ -0,0 +1,111 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 212
+group = 'introduction'
+number = 11
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+def sgn(x):
+    return -1 if x<0 else (1 if x>0 else 0)
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+robot.connect_sensor( 'touch' )
+
+smer = hitrost = 0
+robot.reset_gyro()
+robot.gyro_set_mode( 'angle' )
+prev_smer = -1
+while 1:
+    smer = robot.gyro_sensor_measure()
+    if smer!=prev_smer:
+        print ("Kot:", smer)
+        prev_smer = smer
+    
+    if robot.touch_sensor_measure():
+        robot.reset_gyro()
+        print ( robot.gyro_sensor_measure() )
+    
+    if abs(smer) < 10:
+        hitrost = 10*sgn(smer)
+    else:
+        if abs(smer) > 100:
+            hitrost = 100*sgn(smer)
+        else:
+            hitrost = smer
+    
+    if abs(smer) > 1:
+        L, R = -hitrost, hitrost
+    else:
+        L = R = 0
+    robot.move_tank('on', lr_power=[L,R])
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'connectGyro': Hint('connectGyro'),
+    'connectTouch': Hint('connectTouch'),
+    'resetGyro': Hint('resetGyro'),
+    'setGyroMode': Hint('setGyroMode'),
+    'gyroMeasure': Hint('gyroMeasure'),
+    'ifTouch': Hint('ifTouch'),
+    'moveTank': Hint('moveTank'),
+    'lrPower': Hint('lrPower'),
+    'while': Hint('while')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not (has_token_sequence(tokens, ['connect_gyro','(']) and 'gyro' in code):
+        return [{'id': 'connectGyro'}]
+    
+    if not (has_token_sequence(tokens, ['connect_sensor','(']) and 'touch' in code):
+        return [{'id': 'connectTouch'}]
+    
+    if not has_token_sequence(tokens, ['reset_gyro']):
+        return [{'id': 'resetGyro'}]
+
+    if not has_token_sequence(tokens, ['gyro_set_mode']):
+        return [{'id': 'setGyroMode'}]
+
+    if not has_token_sequence(tokens, ['gyro_sensor_measure']):
+        return [{'id': 'gyroMeasure'}]
+
+    if not has_token_sequence(tokens, ['if','touch_sensor_measure','(']):
+        return [{'id': 'ifTouch'}]
+
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+    
+    if not 'lr_power' in code:
+        return [{'id': 'lrPower'}]
+
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/rotateback/common.py~ b/robot/problems/introduction/rotateback/common.py~
new file mode 100644
index 0000000..c7c199c
--- /dev/null
+++ b/robot/problems/introduction/rotateback/common.py~
@@ -0,0 +1,111 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 212
+group = 'introduction'
+number = 11
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+def sgn(x):
+    return -1 if x<0 else (1 if x>0 else 0)
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+robot.connect_sensor( 'touch' )
+
+smer = hitrost = 0
+robot.reset_gyro()
+robot.gyro_set_mode( 'angle' )
+prev_smer = -1
+while 1:
+    smer = robot.gyro_sensor_measure()
+    if smer!=prev_smer:
+        print ("Kot:", smer)
+        prev_smer = smer
+    
+    if robot.touch_sensor_measure():
+        robot.reset_gyro()
+        print ( robot.gyro_sensor_measure() )
+    
+    if abs(smer) < 10:
+        hitrost = 10*sgn(smer)
+    else:
+        if abs(smer) > 100:
+            hitrost = 100*sgn(smer)
+        else:
+            hitrost = smer
+    
+    if abs(smer) > 1:
+        L, R = -hitrost, hitrost
+    else:
+        L = R = 0
+    robot.move_tank('on', lr_power=[L,R])
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'connectGyro': Hint('connectGyro'),
+    'connectTouch': Hint('connectTouch'),
+    'resetGyro': Hint('resetGyro'),
+    'setGyroMode': Hint('setGyroMode'),
+    'gyroMeasure': Hint('gyroMeasure'),
+    'ifTouch': Hint('ifTouch'),
+    'moveTank': Hint('moveTank'),
+    'lrPower': Hint('lrPower'),
+    'while': Hint('while')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['connect_gyro','(', 'gyro', ')']):
+        return [{'id': 'connectGyro'}]
+    
+    if not has_token_sequence(tokens, ['connect_sensor','(', 'touch', ')']):
+        return [{'id': 'connectTouch'}]
+    
+    if not has_token_sequence(tokens, ['reset_gyro()']):
+        return [{'id': 'resetGyro'}]
+
+    if not has_token_sequence(tokens, ['gyro_set_mode']):
+        return [{'id': 'setGyroMode'}]
+
+    if not has_token_sequence(tokens, ['gyro_sensor_measure()']):
+        return [{'id': 'gyroMeasure'}]
+
+    if not has_token_sequence(tokens, ['if','touch_sensor_measure','(',')']):
+        return [{'id': 'ifTouch'}]
+
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+    
+    if not has_token_sequence(tokens, ['lr_power']):
+        return [{'id': 'lrPower'}]
+
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/rotateback/en.py b/robot/problems/introduction/rotateback/en.py
new file mode 100644
index 0000000..5d8d059
--- /dev/null
+++ b/robot/problems/introduction/rotateback/en.py
@@ -0,0 +1,15 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 212
+name = 'Rotate back'
+slug = 'Rotate back'
+
+description = '''\
+
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/rotateback/naloga11_rotateBack.py b/robot/problems/introduction/rotateback/naloga11_rotateBack.py
new file mode 100644
index 0000000..0bab735
--- /dev/null
+++ b/robot/problems/introduction/rotateback/naloga11_rotateBack.py
@@ -0,0 +1,48 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print ("""
+Naloga 11: 
+""")
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+def sgn(x):
+    return -1 if x<0 else (1 if x>0 else 0)
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'gyro' )
+robot.connect_sensor( 'touch' )
+
+smer = hitrost = 0
+robot.reset_gyro()
+robot.gyro_set_mode( 'angle' )
+prev_smer = -1
+while 1:
+    smer = robot.gyro_sensor_measure()
+    if smer!=prev_smer:
+        print ("Kot:", smer)
+        prev_smer = smer
+    
+    if robot.touch_sensor_measure():
+        robot.reset_gyro()
+        print ( robot.gyro_sensor_measure() )
+    
+    if abs(smer) < 10:
+        hitrost = 10*sgn(smer)
+    else:
+        if abs(smer) > 100:
+            hitrost = 100*sgn(smer)
+        else:
+            hitrost = smer
+    
+    if abs(smer) > 1:
+        L, R = -hitrost, hitrost
+    else:
+        L = R = 0
+    robot.move_tank('on', lr_power=[L,R])
diff --git a/robot/problems/introduction/rotateback/naloga11_rotateBack_old.py b/robot/problems/introduction/rotateback/naloga11_rotateBack_old.py
new file mode 100644
index 0000000..39ab3bb
--- /dev/null
+++ b/robot/problems/introduction/rotateback/naloga11_rotateBack_old.py
@@ -0,0 +1,56 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print """
+Naloga 11:
+"""
+
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+# the sensor should be perfectly still while resetting the gyro
+def resetGyro(gyro):
+    gyro.mode = 'GYRO-RATE'
+    gyro.mode = 'GYRO-ANG'
+
+def sgn(x):
+    return -1 if x<0 else (1 if x>0 else 0)
+
+gyro = gyro_sensor()
+assert gyro.connected
+gyro.mode = 'GYRO-ANG'
+
+touch = touch_sensor()
+assert touch.connected
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+smer = hitrost = 0
+resetGyro(gyro)
+prev_smer = -1
+while 1:
+    smer = gyro.value()
+    if smer!=prev_smer:
+        print "Kot:", smer
+        prev_smer = smer
+    
+    if touch.value():
+        resetGyro(gyro)
+        print gyro.value()
+    
+    if abs(smer) < 10:
+        hitrost = 10*sgn(smer)
+    else:
+        if abs(smer) > 100:
+            hitrost = 100*sgn(smer)
+        else:
+            hitrost = smer
+    
+    if abs(smer) > 1:
+        L, R = -hitrost, hitrost
+    else:
+        L = R = 0
+    robot.move_tank('on', lr_power=[L,R])
diff --git a/robot/problems/introduction/rotateback/old_naloga11_rotateBack.py b/robot/problems/introduction/rotateback/old_naloga11_rotateBack.py
new file mode 100644
index 0000000..a14c91d
--- /dev/null
+++ b/robot/problems/introduction/rotateback/old_naloga11_rotateBack.py
@@ -0,0 +1,53 @@
+#!/usr/bin/python
+# coding=utf-8
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+# the sensor should be perfectly still while resetting the gyro
+def resetGyro(gyro):
+    gyro.mode = 'GYRO-RATE'
+    gyro.mode = 'GYRO-ANG'
+
+def sgn(x):
+    return -1 if x<0 else (1 if x>0 else 0)
+
+gyro = gyro_sensor()
+assert gyro.connected
+gyro.mode = 'GYRO-ANG'
+
+touch = touch_sensor()
+assert touch.connected
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+smer = hitrost = 0
+resetGyro(gyro)
+prev_smer = -1
+while 1:
+    smer = gyro.value()
+    if smer!=prev_smer:
+        print ("Kot:", smer)
+        prev_smer = smer
+    
+    if touch.value():
+        resetGyro(gyro)
+        print( gyro.value())
+    
+    if abs(smer) < 10:
+        hitrost = 10*sgn(smer)
+    else:
+        if abs(smer) > 100:
+            hitrost = 100*sgn(smer)
+        else:
+            hitrost = smer
+    
+    if abs(smer) > 1:
+        L, R = -hitrost, hitrost
+    else:
+        L = R = 0
+    robot.move_tank('on', lr_power=[L,R])
diff --git a/robot/problems/introduction/rotateback/sl.py b/robot/problems/introduction/rotateback/sl.py
new file mode 100644
index 0000000..269ea34
--- /dev/null
+++ b/robot/problems/introduction/rotateback/sl.py
@@ -0,0 +1,33 @@
+# coding=utf-8
+
+name = 'Drži smer'
+slug = 'Drži smer'
+
+description = '''\
+<p>Robot naj drži smer - če ga obrnemo iz začetne smeri, naj se zasuka nazaj v prvotno smer. Ob pritisku na stikalo, naj se resetira (smer nastavi na 0).</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'connectGyro':['''<p>Robotu priključi žiroskop</p>''',
+                 '''<p><code>robot.connect_sensor( 'gyro' )</code>.</p>'''],
+    'connectTouch':['''<p>Robotu priključi stikalo</p>''',
+                 '''<p><code>robot.connect_sensor( 'touch' )</code>.</p>'''],
+    'resetGyro':['''<p>Žiroskop na začetku in ob pritisku na stikalo resetiraj.</p>''',
+                 '''<p><code>robot.reset_gyro()</code>.</p>'''],
+    'setGyroMode':['''<p>Žiroskopu nastavi način delovanja na merjenje kotov.</p>''',
+                   '''<p><code>robot.gyro_set_mode('angle')</code>.</p>'''],
+    'gyroMeasure':['''<p>Preberi vrednost žiroskopa.</p>''',
+                   '''<p><code>robot.gyro_sensor_measure()</code>.</p>'''],
+    'ifTouch':['''<p>Preveri, če je stikalo pritisnjeno.</p>''',
+               '''<p><code>if robot.touch_sensor_measure():</code>.</p>'''],
+    'lrPower':['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+               '''<p><code>robot.move_tank( 'on_for_seconds', lr_power=[hitrost, -hitrost], ... )</code>.</p>'''],
+    'moveTank':['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>'''],
+    'while':['''<p>Program naj teče v neskončni zanki.</p>''',
+             '''<p><code>while 1:</code></p>'''],
+}
diff --git a/robot/problems/introduction/rotateback/sl.py~ b/robot/problems/introduction/rotateback/sl.py~
new file mode 100644
index 0000000..0b91379
--- /dev/null
+++ b/robot/problems/introduction/rotateback/sl.py~
@@ -0,0 +1,36 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'sl')
+
+id = 212
+name = 'Drži smer'
+slug = 'Drži smer'
+
+description = '''\
+<p>Robot naj drži smer - če ga obrnemo iz začetne smeri, naj se zasuka nazaj v prvotno smer. Ob pritisku na stikalo, naj se resetira (smer nastavi na 0).</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'connectGyro':['''<p>Robotu priključi žiroskop</p>''',
+                 '''<p><code>robot.connect_sensor( 'gyro' )</code>.</p>'''],
+    'connectTouch':['''<p>Robotu priključi stikalo</p>''',
+                 '''<p><code>robot.connect_sensor( 'touch' )</code>.</p>'''],
+    'resetGyro':['''<p>Žiroskop na začetku in ob pritisku na stikalo resetiraj.</p>''',
+                 '''<p><code>robot.reset_gyro()</code>.</p>'''],
+    'setGyroMode':['''<p>Žiroskopu nastavi način delovanja na merjenje kotov.</p>''',
+                   '''<p><code>robot.gyro_set_mode('angle')</code>.</p>'''],
+    'gyroMeasure':['''<p>Preberi vrednost žiroskopa.</p>''',
+                   '''<p><code>robot.gyro_sensor_measure()</code>.</p>'''],
+    'ifTouch':['''<p>Preveri, če je stikalo pritisnjeno.</p>''',
+               '''<p><code>if robot.touch_sensor_measure():</code>.</p>'''],
+    'lrPower':['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+               '''<p><code>robot.move_tank( 'on_for_seconds', lr_power=[hitrost, -hitrost], ... )</code>.</p>'''],
+    'moveTank':['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>'''],
+    'while':['''<p>Program naj teče v neskončni zanki.</p>''',
+             '''<p><code>while 1:</code></p>'''],
+}
diff --git a/robot/problems/introduction/spotturn90/common.py b/robot/problems/introduction/spotturn90/common.py
new file mode 100644
index 0000000..39e9148
--- /dev/null
+++ b/robot/problems/introduction/spotturn90/common.py
@@ -0,0 +1,60 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 214
+group = 'introduction'
+number = 3
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=.9 )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveTank': Hint('moveTank'),
+    'onForSeconds': Hint('onForSeconds'),
+    'lrPower': Hint('lrPower'),
+    'seconds': Hint('seconds'),
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+
+    if not 'on_for_seconds' in code:
+        return [{'id': 'onForSeconds'}]
+    
+    if not 'seconds' in code:
+        return [{'id': 'seconds'}]
+    
+    if not 'lr_power' in code:
+        return [{'id': 'lrPower'}]
+    
+    return None
diff --git a/robot/problems/introduction/spotturn90/common.py~ b/robot/problems/introduction/spotturn90/common.py~
new file mode 100644
index 0000000..d024bd4
--- /dev/null
+++ b/robot/problems/introduction/spotturn90/common.py~
@@ -0,0 +1,61 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 214
+group = 'introduction'
+number = 3
+visible = True
+
+solution = '''\
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=.9 )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveTank': Hint('moveTank'),
+    'onForSeconds': Hint('onForSeconds'),
+    'lrPower': Hint('lrPower'),
+    'seconds': Hint('seconds'),
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+
+    if not has_token_sequence(tokens, ['on_for_seconds']):
+        return [{'id': 'onForSeconds'}]
+    
+    if not has_token_sequence(tokens, ['lr_power']):
+        return [{'id': 'lrPower'}]
+    
+    if not has_token_sequence(tokens, ['seconds']):
+        return [{'id': 'seconds'}]
+
+    return None
diff --git a/robot/problems/introduction/spotturn90/en.py b/robot/problems/introduction/spotturn90/en.py
new file mode 100644
index 0000000..348c517
--- /dev/null
+++ b/robot/problems/introduction/spotturn90/en.py
@@ -0,0 +1,14 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 214
+name = 'Turn on spot 90'
+slug = 'Turn on spot 90'
+
+description = '''\
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/spotturn90/naloga03_turnOnSpotRight90.py b/robot/problems/introduction/spotturn90/naloga03_turnOnSpotRight90.py
new file mode 100644
index 0000000..033290b
--- /dev/null
+++ b/robot/problems/introduction/spotturn90/naloga03_turnOnSpotRight90.py
@@ -0,0 +1,23 @@
+#!/usr/bin/python
+
+print ("Robot naj se na mestu obrne za 90 stopinj v desno.")
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+# Solution 1:
+#robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=.9 )
+ 
+# Solution 2:
+robot.motor['left'].position = 0
+robot.motor['right'].position = 0
+while robot.motor['left'].position <180 or robot.motor['right'].position <180:
+    robot.large_motor( 'left', 'on', power=10 )
+    robot.large_motor( 'right', 'on', power=10 , invert=True)
+    #print robot.motor['left'].position, robot.motor['right'].position
diff --git a/robot/problems/introduction/spotturn90/sl.py b/robot/problems/introduction/spotturn90/sl.py
new file mode 100644
index 0000000..fe477aa
--- /dev/null
+++ b/robot/problems/introduction/spotturn90/sl.py
@@ -0,0 +1,21 @@
+# coding=utf-8
+
+name = 'Obrat na mestu 90'
+slug = 'Obrat na mestu 90'
+
+description = '''\
+<p>Robot naj se na mestu obrne za 90 stopinj v desno.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu moramo priključiti levi motor: <code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu moramo priključiti desni motor: <code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveTank':['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>'''],
+    'onForSeconds':['''<p>Prvi argument metode <code>robot.move_tank</code> naj pove, da bo delovanje motorjev časovno omejeno.</p>''',
+                    '''<p><code>robot.move_tank('on_for_seconds', ... )</code>.</p>'''],
+    'lrPower':['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+               '''<p><code>robot.move_tank( 'on_for_seconds', lr_power=[hitrost, -hitrost], ... )</code>.</p>'''],
+    'seconds':['''<p>Napiši časovno omejitev v sekundah.</p>''',
+               '''<p><code>robot.move_tank( 'on_for_seconds', ..., seconds=... )</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/spotturn90/sl.py~ b/robot/problems/introduction/spotturn90/sl.py~
new file mode 100644
index 0000000..bc0978c
--- /dev/null
+++ b/robot/problems/introduction/spotturn90/sl.py~
@@ -0,0 +1,24 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'sl')
+
+id = 214
+name = 'Obrat na mestu 90'
+slug = 'Obrat na mestu 90'
+
+description = '''\
+<p>Robot naj se na mestu obrne za 90 stopinj v desno.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu moramo priključiti levi motor: <code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu moramo priključiti desni motor: <code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveTank':['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>'''],
+    'onForSeconds':['''<p>Prvi argument metode <code>robot.move_tank</code> naj pove, da bo delovanje motorjev časovno omejeno.</p>''',
+                    '''<p><code>robot.move_tank('on_for_seconds', ... )</code>.</p>'''],
+    'lrPower':['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+               '''<p><code>robot.move_tank( 'on_for_seconds', lr_power=[hitrost, -hitrost], ... )</code>.</p>'''],
+    'seconds':['''<p>Napiši časovno omejitev v sekundah.</p>''',
+               '''<p><code>robot.move_tank( 'on_for_seconds', ..., seconds=... )</code>.</p>'''],
+}
\ No newline at end of file
diff --git a/robot/problems/introduction/square20/common.py b/robot/problems/introduction/square20/common.py
new file mode 100644
index 0000000..f868a1c
--- /dev/null
+++ b/robot/problems/introduction/square20/common.py
@@ -0,0 +1,76 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 213
+group = 'introduction'
+number = 4
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+turntime = .95
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteering': Hint('moveSteering'),
+    'onForSeconds': Hint('onForSeconds'),
+    'direction': Hint('direction'),
+    'seconds': Hint('seconds'),
+    'moveTank': Hint('moveTank'),
+    'lrPower': Hint('lrPower')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['move_steering']):
+        return [{'id': 'moveSteering'}]
+
+    if not 'on_for_seconds' in code:
+        return [{'id': 'onForSeconds'}]
+    
+    if not 'direction' in code:
+        return [{'id': 'direction'}]
+    
+    if not 'seconds' in code:
+        return [{'id': 'seconds'}]
+    
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+
+    if not 'lr_power' in code:
+        return [{'id': 'lrPower'}]
+
+    return None
diff --git a/robot/problems/introduction/square20/common.py~ b/robot/problems/introduction/square20/common.py~
new file mode 100644
index 0000000..f868a1c
--- /dev/null
+++ b/robot/problems/introduction/square20/common.py~
@@ -0,0 +1,76 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 213
+group = 'introduction'
+number = 4
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+turntime = .95
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteering': Hint('moveSteering'),
+    'onForSeconds': Hint('onForSeconds'),
+    'direction': Hint('direction'),
+    'seconds': Hint('seconds'),
+    'moveTank': Hint('moveTank'),
+    'lrPower': Hint('lrPower')
+}
+
+def hint( code):
+    tokens = get_tokens(code)
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not has_token_sequence(tokens, ['move_steering']):
+        return [{'id': 'moveSteering'}]
+
+    if not 'on_for_seconds' in code:
+        return [{'id': 'onForSeconds'}]
+    
+    if not 'direction' in code:
+        return [{'id': 'direction'}]
+    
+    if not 'seconds' in code:
+        return [{'id': 'seconds'}]
+    
+    if not has_token_sequence(tokens, ['move_tank']):
+        return [{'id': 'moveTank'}]
+
+    if not 'lr_power' in code:
+        return [{'id': 'lrPower'}]
+
+    return None
diff --git a/robot/problems/introduction/square20/en.py b/robot/problems/introduction/square20/en.py
new file mode 100644
index 0000000..907acfe
--- /dev/null
+++ b/robot/problems/introduction/square20/en.py
@@ -0,0 +1,14 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 213
+name = 'Square 20'
+slug = 'Square 20'
+
+description = '''\
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/square20/naloga04_square20.py b/robot/problems/introduction/square20/naloga04_square20.py
new file mode 100644
index 0000000..171c4b8
--- /dev/null
+++ b/robot/problems/introduction/square20/naloga04_square20.py
@@ -0,0 +1,21 @@
+#!/usr/bin/python
+
+print "Robot naj enkrat prevozi kvadrat s stranico 20 cm."
+
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+turntime = .95
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
+robot.move_steering( 'on_for_seconds', direction=0, power=20, seconds=2 )
+robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=turntime )
\ No newline at end of file
diff --git a/robot/problems/introduction/square20/sl.py b/robot/problems/introduction/square20/sl.py
new file mode 100644
index 0000000..f52ddf7
--- /dev/null
+++ b/robot/problems/introduction/square20/sl.py
@@ -0,0 +1,29 @@
+# coding=utf-8
+
+name = 'Kvadrat 20 cm'
+slug = 'Kvadrat 20 cm'
+
+description = '''\
+<p>Robot naj enkrat prevozi kvadrat s stranico 20 cm.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteering':['''<p>Sinhroniziraj motorja in ju zaženi.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( ... )</code>.</p>'''],
+    'onForSeconds':['''<p>Prvi argument metode <code>robot.move_steering</code> naj pove, da bo delovanje motorjev časovno omejeno.</p>''',
+                    '''<p><code>robot.move_steering('on_for_seconds', ... )</code>.</p>'''],
+    'direction':['''<p>Navedi smer premikanja motorjev, naravnost = 0.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, ... )</code>.</p>'''],
+    'seconds':['''<p>Napiši časovno omejitev v sekundah.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, seconds=... )</code>.</p>''',
+                    '''<p><code>robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=.95 )</code>.</p>''',],
+    'moveTank': ['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>''',
+                 '''<p><code>robot.move_tank( 'on_for_seconds', ... )</code>.</p>'''],
+    'lrPower': ['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+                '''<p><code>robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=.95 )</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/square20/sl.py~ b/robot/problems/introduction/square20/sl.py~
new file mode 100644
index 0000000..aa5137e
--- /dev/null
+++ b/robot/problems/introduction/square20/sl.py~
@@ -0,0 +1,27 @@
+# coding=utf-8
+
+name = 'Kvadrat 20 cm'
+slug = 'Kvadrat 20 cm'
+
+description = '''\
+<p>Robot naj enkrat prevozi kvadrat s stranico 20 cm.</p>'''
+
+hint = {
+    'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu moramo priključiti levi motor: <code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu moramo priključiti desni motor: <code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteering':['''<p>Sinhroniziraj motorja in ju zaženi.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( ... )</code>.</p>'''],
+    'onForSeconds':['''<p>Prvi argument metode <code>robot.move_steering</code> naj pove, da bo delovanje motorjev časovno omejeno.</p>''',
+                    '''<p><code>robot.move_steering('on_for_seconds', ... )</code>.</p>'''],
+    'direction':['''<p>Navedi smer premikanja motorjev, naravnost = 0.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, ... )</code>.</p>'''],
+    'seconds':['''<p>Napiši časovno omejitev v sekundah.</p>''',
+                    '''<p><code>robot.move_steering( 'on_for_seconds', direction=0, seconds=... )</code>.</p>''',
+                    '''<p><code>robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=.95 )</code>.</p>''',],
+    'moveTank': ['''<p>Robot naj se obrne na mestu.</p>''',
+                 '''<p>Najprimernejša metoda za to je <code>move_tank</code></p>''',
+                 '''<p><code>robot.move_tank( 'on_for_seconds', ... )</code>.</p>'''],
+    'lrPower': ['''<p>Za obrat na mestu se morata kolesi vrteti z enako močjo in v nasprotni smeri.</p>''',
+                '''<p><code>robot.move_tank( 'on_for_seconds', lr_power=[20,-20], seconds=.95 )</code>.</p>'''],
+}
diff --git a/robot/problems/introduction/wall1m/common.py b/robot/problems/introduction/wall1m/common.py
new file mode 100644
index 0000000..319cea2
--- /dev/null
+++ b/robot/problems/introduction/wall1m/common.py
@@ -0,0 +1,80 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 215
+group = 'introduction'
+number = 6
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'ultrasonic' )
+robot.move_steering( 'on', power=80 )
+while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 500:
+	pass
+robot.move_steering( 'on', power=20 )
+while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 200:
+	pass
+robot.move_steering( 'off' )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteeringOn': Hint('moveSteeringOn'),
+    'moveSteeringOff': Hint('moveSteeringOff'),
+    'connectUltrasonicSensor': Hint('connectUltrasonicSensor'),
+    'ultrasonicSensorMeasure': Hint('ultrasonicSensorMeasure'),
+    'power80': Hint('power80'),
+    'power20': Hint('power20'),
+    'while': Hint('while')
+}
+
+def hint( code ):
+    tokens = get_tokens(code)
+	lines = code.split('\n')
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not (has_token_sequence(tokens, ['connect_sensor', '(']) and 'ultrasonic' in code) :
+        return [{'id': 'connectUltrasonicSensor'}]
+
+    if not (has_token_sequence(tokens, ['move_steering', '(']) and 'on' in code):
+        return [{'id': 'moveSteeringOn'}]
+
+    if not (has_token_sequence(tokens, ['move_steering', '(']) and 'off' in code):
+        return [{'id': 'moveSteeringOff'}]
+
+    #if not (has_token_sequence(tokens, ['ultrasonic_sensor_measure', '(']) and 'distance-cm' in code):
+	if not any(('ultrasonic_sensor_measure' in s and '(' in s and 'distance-cm' in s) for s in lines)
+        return [{'id': 'ultrasonicSensorMeasure'}]
+
+    if not any(('power' in s and '80' in s and '=' in s) for s in lines):
+        return [{'id': 'power80'}]
+    
+    if not any(('power' in s and '20' in s and '=' in s) for s in lines):
+        return [{'id': 'power20'}]
+    
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/wall1m/common.py~ b/robot/problems/introduction/wall1m/common.py~
new file mode 100644
index 0000000..319cea2
--- /dev/null
+++ b/robot/problems/introduction/wall1m/common.py~
@@ -0,0 +1,80 @@
+# coding=utf-8
+
+from python.util import has_token_sequence, string_almost_equal, \
+    string_contains_number, get_tokens, get_numbers, get_exception_desc
+from server.hints import Hint, HintSequence
+
+id = 215
+group = 'introduction'
+number = 6
+visible = True
+
+solution = '''\
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'ultrasonic' )
+robot.move_steering( 'on', power=80 )
+while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 500:
+	pass
+robot.move_steering( 'on', power=20 )
+while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 200:
+	pass
+robot.move_steering( 'off' )
+'''
+
+hint_type = {
+    'mW_init': Hint('mW_init'),
+    'connectMotorLeft': Hint('connectMotorLeft'),
+    'connectMotorRight': Hint('connectMotorRight'),
+    'moveSteeringOn': Hint('moveSteeringOn'),
+    'moveSteeringOff': Hint('moveSteeringOff'),
+    'connectUltrasonicSensor': Hint('connectUltrasonicSensor'),
+    'ultrasonicSensorMeasure': Hint('ultrasonicSensorMeasure'),
+    'power80': Hint('power80'),
+    'power20': Hint('power20'),
+    'while': Hint('while')
+}
+
+def hint( code ):
+    tokens = get_tokens(code)
+	lines = code.split('\n')
+
+    # if code does not include mindstorms_widgets(), a student gets a hint that the robot should be somehow represented in the program
+    if not has_token_sequence(tokens, ['mindstorms_widgets', '(',')']):
+        return [{'id': 'mW_init'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['left']):
+        return [{'id': 'connectMotorLeft'}]
+
+    # if code does not include connect_motor statement, a student needs to learn about how to connect the motors
+    if not has_token_sequence(tokens, ['connect_motor']) and not has_token_sequence(tokens, ['right']):
+        return [{'id': 'connectMotorRight'}]
+
+    if not (has_token_sequence(tokens, ['connect_sensor', '(']) and 'ultrasonic' in code) :
+        return [{'id': 'connectUltrasonicSensor'}]
+
+    if not (has_token_sequence(tokens, ['move_steering', '(']) and 'on' in code):
+        return [{'id': 'moveSteeringOn'}]
+
+    if not (has_token_sequence(tokens, ['move_steering', '(']) and 'off' in code):
+        return [{'id': 'moveSteeringOff'}]
+
+    #if not (has_token_sequence(tokens, ['ultrasonic_sensor_measure', '(']) and 'distance-cm' in code):
+	if not any(('ultrasonic_sensor_measure' in s and '(' in s and 'distance-cm' in s) for s in lines)
+        return [{'id': 'ultrasonicSensorMeasure'}]
+
+    if not any(('power' in s and '80' in s and '=' in s) for s in lines):
+        return [{'id': 'power80'}]
+    
+    if not any(('power' in s and '20' in s and '=' in s) for s in lines):
+        return [{'id': 'power20'}]
+    
+    if not has_token_sequence(tokens, ['while']):
+        return [{'id': 'while'}]
+
+    return None
diff --git a/robot/problems/introduction/wall1m/en.py b/robot/problems/introduction/wall1m/en.py
new file mode 100644
index 0000000..ec91c7b
--- /dev/null
+++ b/robot/problems/introduction/wall1m/en.py
@@ -0,0 +1,14 @@
+# coding=utf-8
+import server
+mod = server.problems.load_language('python', 'en')
+
+id = 215
+name = 'To the wall'
+slug = 'To the wall'
+
+description = '''\
+'''
+
+hint = {
+    
+}
diff --git a/robot/problems/introduction/wall1m/naloga06_wall1m.py b/robot/problems/introduction/wall1m/naloga06_wall1m.py
new file mode 100644
index 0000000..e3be37c
--- /dev/null
+++ b/robot/problems/introduction/wall1m/naloga06_wall1m.py
@@ -0,0 +1,27 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print ("""
+Naloga 6:
+    Robota postavi pred zid, tako da bo od njega oddaljen vsaj 1 m; vmes naj ne bo ovir.
+    Napisi program, s katerim bo robot vozil naravnost proti zidu z 80% mocjo.
+    Na razdalji 50 cm od zida naj robot zmanjsa hitrost na 20%, na razdalji 20 cm od zida pa naj se ustavi.
+""")
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+robot.connect_sensor( 'ultrasonic' )
+robot.move_steering( 'on', power=80 )
+while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 500:
+	pass
+robot.move_steering( 'on', power=20 )
+while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 200:
+	pass
+robot.move_steering( 'off' )
+
diff --git a/robot/problems/introduction/wall1m/naloga06_wall1m.py~ b/robot/problems/introduction/wall1m/naloga06_wall1m.py~
new file mode 100644
index 0000000..f7e6bad
--- /dev/null
+++ b/robot/problems/introduction/wall1m/naloga06_wall1m.py~
@@ -0,0 +1,31 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print """
+Naloga 6:
+    Robota postavi pred zid, tako da bo od njega oddaljen vsaj 1 m; vmes naj ne bo ovir.
+    Napisi program, s katerim bo robot vozil naravnost proti zidu z 80% mocjo.
+    Na razdalji 50 cm od zida naj robot zmanjsa hitrost na 20%, na razdalji 20 cm od zida pa naj se ustavi.
+"""
+
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+us = ultrasonic_sensor();   assert us.connected
+us.mode = 'US-DIST-CM' # Continuous measurement of distance (0-2550 mm)
+
+# for m in us.modes:
+#     print "\t",m
+#exit()
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+robot.move_steering( 'on', power=80 )
+while us.value()>500:
+    pass
+robot.move_steering( 'on', power=20 )
+while us.value()>200:
+    pass
+robot.move_steering( 'off' )
diff --git a/robot/problems/introduction/wall1m/naloga06_wall1m_testing.py b/robot/problems/introduction/wall1m/naloga06_wall1m_testing.py
new file mode 100644
index 0000000..a7e449c
--- /dev/null
+++ b/robot/problems/introduction/wall1m/naloga06_wall1m_testing.py
@@ -0,0 +1,43 @@
+#!/usr/bin/python
+# coding=utf-8
+
+print ("""
+Naloga 6:
+    Robota postavi pred zid, tako da bo od njega oddaljen vsaj 1 m; vmes naj ne bo ovir.
+    Napisi program, s katerim bo robot vozil naravnost proti zidu z 80% mocjo.
+    Na razdalji 50 cm od zida naj robot zmanjsa hitrost na 20%, na razdalji 20 cm od zida pa naj se ustavi.
+""")
+import sys
+sys.path.append('/home/user/codeq')
+import time
+from ev3dev import *
+from mindstorms_widgets import mindstorms_widgets
+
+robot = mindstorms_widgets()
+robot.connect_motor( 'left' )
+robot.connect_motor( 'right' )
+
+mw=True
+
+if mw:
+	robot.connect_sensor( 'ultrasonic' )
+	robot.move_steering( 'on', power=80 )
+	while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 500:
+		print(robot.ultrasonic_sensor_measure( 'distance-cm' ) )
+	print(robot.ultrasonic_sensor_measure( 'distance-cm' ) )
+	robot.move_steering( 'on', power=20 )
+	while robot.ultrasonic_sensor_measure( 'distance-cm' ) > 200:
+		print(robot.ultrasonic_sensor_measure( 'distance-cm' ) )
+	robot.move_steering( 'off' )
+else:
+	us = ultrasonic_sensor()
+	assert us.connected
+	us.mode = 'US-DIST-CM' # Continuous measurement of distance (0-2550 mm)
+	robot.move_steering( 'on', power=80 )
+	while us.value()>500:
+		print( us.value() )
+	print( us.value() )
+	robot.move_steering( 'on', power=20 )
+	while us.value()>200:
+		print( us.value() )
+	robot.move_steering( 'off' )
diff --git a/robot/problems/introduction/wall1m/sl.py b/robot/problems/introduction/wall1m/sl.py
new file mode 100644
index 0000000..18518d5
--- /dev/null
+++ b/robot/problems/introduction/wall1m/sl.py
@@ -0,0 +1,31 @@
+# coding=utf-8
+
+name = 'Pelji do zida'
+slug = 'Pelji do zida'
+
+description = '''\
+<p>Robota postavi pred zid, tako da bo od njega oddaljen vsaj 1 m; vmes naj ne bo ovir.
+    Napiši program, s katerim bo robot vozil naravnost proti zidu z 80% močjo.
+    Na razdalji 50 cm od zida naj robot zmanjša hitrost na 20%, na razdalji 20 cm od zida pa naj se ustavi.</p>'''
+
+hint = {
+   'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteeringOn':['''<p>Sinhroniziraj motorja in ju zaženi.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( 'on' )</code>.</p>'''],
+    'moveSteeringOff':['''<p>Ustavi motorja.</p>''',
+                    '''<p><code>robot.move_steering( 'off' )</code>.</p>'''],
+    'power80': ['''<p>Nastavi moč motorjev na 80%.</p>''',
+                '''<p><code>robot.move_steering( 'on', power=80 )</code>.</p>'''],
+    'power20': ['''<p>Nastavi moč motorjev na 20%.</p>''',
+                '''<p><code>robot.move_steering( 'on', power=20 )</code>.</p>'''],
+    'connectUltrasonicSensor':['''<p>Robotu moramo priključiti ultrazvočni senzor.</p>''',
+                    '''<p><code>robot.connect_sensor( 'ultrasonic' )</code>.</p>'''],
+    'ultrasonicSensorMeasure':['''<p>Medtem ko se robot pomika naprej, naj uporabi ultrazvočni senzor v načinu 'distance-cm', s katerim meri razdaljo v cm.</p>''',
+                    '''<p><code>robot.ultrasonic_sensor_measure( 'distance-cm' )</code>.</p>'''],
+    'while':['''<p>Uporabi zanko: robot naj se pelje naprej, dokler ne pride do razdalje 50 cm od zida.</p>''',
+             '''<p>Uporabi še eno zanko: robot naj se pelje naprej z 20% močjo, dokler ne pride do razdalje 20 cm od zida.</p>'''],
+}
diff --git a/robot/problems/introduction/wall1m/sl.py~ b/robot/problems/introduction/wall1m/sl.py~
new file mode 100644
index 0000000..8455bab
--- /dev/null
+++ b/robot/problems/introduction/wall1m/sl.py~
@@ -0,0 +1,31 @@
+# coding=utf-8
+
+name = 'Pelji do zida'
+slug = 'Pelji do zida'
+
+description = '''\
+<p>Robota postavi pred zid, tako da bo od njega oddaljen vsaj 1 m; vmes naj ne bo ovir.
+    Napisi program, s katerim bo robot vozil naravnost proti zidu z 80% mocjo.
+    Na razdalji 50 cm od zida naj robot zmanjsa hitrost na 20%, na razdalji 20 cm od zida pa naj se ustavi.</p>'''
+
+hint = {
+   'mW_init':['''<p>Robota v programu predstavimo z mindstorms_widgets(): <code>robot = mindstorms_widgets()</code>.</p>'''],
+    'connectMotorLeft':['''<p>Robotu priključi levi motor</p>''',
+                 '''<p><code>robot.connect_motor( 'left' )</code>.</p>'''],
+    'connectMotorRight':['''<p>Robotu priključi desni motor</p>''',
+                 '''<p><code>robot.connect_motor( 'right' )</code>.</p>'''],
+    'moveSteeringOn':['''<p>Sinhroniziraj motorja in ju zaženi.</p>''',
+                    '''<p>Za sinhronizirano vožnjo je najbolj primerna metoda <code>robot.move_steering( 'on' )</code>.</p>'''],
+    'moveSteeringOff':['''<p>Ustavi motorja.</p>''',
+                    '''<p><code>robot.move_steering( 'off' )</code>.</p>'''],
+    'power80': ['''<p>Nastavi moč motorjev na 80%.</p>''',
+                '''<p><code>robot.move_steering( 'on', power=80 )</code>.</p>'''],
+    'power20': ['''<p>Nastavi moč motorjev na 20%.</p>''',
+                '''<p><code>robot.move_steering( 'on', power=20 )</code>.</p>'''],
+    'connectUltrasonicSensor':['''<p>Robotu moramo priključiti ultrazvočni senzor.</p>''',
+                    '''<p><code>robot.connect_sensor( 'ultrasonic' )</code>.</p>'''],
+    'ultrasonicSensorMeasure':['''<p>Medtem ko se robot pomika naprej, naj uporabi ultrazvočni senzor v načinu 'distance-cm', s katerim meri razdaljo v cm.</p>''',
+                    '''<p><code>robot.ultrasonic_sensor_measure( 'distance-cm' )</code>.</p>'''],
+    'while':['''<p>Uporabi zanko: robot naj se pelje naprej, dokler ne pride do razdalje 50 cm od zida.</p>''',
+             '''<p>Uporabi še eno zanko: robot naj se pelje naprej z 20% močjo, dokler ne pride do razdalje 20 cm od zida.</p>'''],
+}