From 3962018663ebd18df6453597ced434aeb963940d Mon Sep 17 00:00:00 2001
From: cfry <cfry@media.mit.edu>
Date: Thu, 27 Jun 2019 16:00:00 -0400
Subject: [PATCH] release

---
 core/dextersim.js                     |   9 +-
 core/index.js                         |   6 +
 core/instruction.js                   | 128 ++--
 core/instruction_control.js           |  24 +
 core/instruction_dexter.js            |  19 +-
 core/instruction_io.js                |  16 +
 core/job.js                           |   8 +-
 core/out.js                           |   1 +
 core/robot.js                         |  40 +-
 core/socket.js                        |  60 +-
 core/storage.js                       |  27 +-
 core/to_source_code.js                |   3 +-
 core/utils.js                         |  10 +-
 de/de_testsuite.js                    |  16 +-
 de/de_testsuite_backup.js             |   3 +-
 doc/eval.html                         |   2 +-
 doc/guide.html                        |  34 +-
 doc/mental_model_of_memory.html       |   2 +-
 doc/processor_board_jumpers.png       | Bin 329930 -> 0 bytes
 doc/ref_man.html                      | 985 ++++++++++++++++----------
 doc/release_notes.html                | 180 ++++-
 doc_code.js                           |   2 +-
 editor.js                             | 315 +++++++-
 examples/FindHome.js                  |   2 +-
 examples/opencv_locate_object.js      |  10 +-
 examples/opencv_picture_similarity.js |   8 +-
 index.html                            |  56 +-
 job_examples.js                       | 763 ++++++++++++--------
 js_info.js                            | 147 +++-
 load_job_engine.js                    |   8 +-
 low_level_dexter/ViewEyeRealTime.js   |   2 +-
 make_instruction/make_instruction.js  |  50 +-
 make_instruction/mirecord.js          |   4 +-
 music/note_testsuite.js               |   2 +-
 package.json                          |   7 +-
 ready.js                              |  13 +-
 robot_status_dialog.js                |   2 +-
 series.js                             |  14 +-
 test_suite/loop_testsuite.js          |  20 +-
 test_suite/test_suites.js             |   2 +-
 user_tools/ezTeach_base.js            |  18 +-
 user_tools/ezTeach_template.js        |   2 +-
 42 files changed, 2056 insertions(+), 964 deletions(-)
 create mode 100644 core/instruction_control.js
 create mode 100644 core/instruction_io.js
 delete mode 100644 doc/processor_board_jumpers.png

diff --git a/core/dextersim.js b/core/dextersim.js
index 773cfcc2..a8859504 100644
--- a/core/dextersim.js
+++ b/core/dextersim.js
@@ -146,6 +146,11 @@ DexterSim = class DexterSim{
        //so just leave that as it is--apr 2019
         if (this.sim_actual === true){
             let rob = this.robot
+            if((rs_copy[Dexter.INSTRUCTION_TYPE] == "r")   &&
+                (typeof(payload_string_maybe) == "number") &&
+                (payload_string_maybe > 0)){
+                rs_copy[Dexter.ERROR_CODE] = payload_string_maybe
+            }
             setTimeout(function(){
                         Socket.on_receive(rs_copy, rob.name, payload_string_maybe)
                         }, 1)
@@ -422,13 +427,11 @@ DexterSim = class DexterSim{
         let whole_content
         try { whole_content = read_file(source) }//errors if path in "source" doesn't exist
         catch(err){
-            return 1 //return the error code
+            return 2 //return the error code
         }
         let start_index = hunk_index * Instruction.Dexter.read_file.payload_max_chars
         let end_index = start_index + Instruction.Dexter.read_file.payload_max_chars
         let payload_string = whole_content.substring(start_index, end_index) //ok if end_index is > whole_cotnent.length, it just gets how much it can, no error
-        //out("some content from " + source + " hunk: " + hunk_index + " payload: " + payload_string)
-        //Socket.r_payload_grab_aux(instruction_array, payload_string)
         return payload_string
     }
     //Dexter.write_file
diff --git a/core/index.js b/core/index.js
index 98d97907..817564b4 100644
--- a/core/index.js
+++ b/core/index.js
@@ -109,7 +109,11 @@ var Coor   = require("../math/Coor.js")
 var Kin    = require("../math/Kin.js")
 var Vector = require("../math/Vector.js")
 var Job    = require("./job.js")
+
 var {Robot, Brain, Dexter, Human, Serial}  = require("./robot.js")
+var {Control} = require("./instruction_control.js")
+var {IO}      = require("./instruction_io.js")
+
 var {out}  = require("./out.js")
 var calibrate_build_tables = require("../low_level_dexter/calibrate_build_tables.js")
 var DXF    = require("../math/DXF.js")
@@ -119,6 +123,8 @@ global.Dexter   = Dexter
 global.make_ins = Dexter.make_ins
 global.out      = out
 global.Robot    = Robot
+global.Control  = Control
+global.IO       = IO
 global.Job      = Job
 global.Vector   = Vector
 global.Kin      = Kin
diff --git a/core/instruction.js b/core/instruction.js
index 584d577a..21a8e4ab 100644
--- a/core/instruction.js
+++ b/core/instruction.js
@@ -443,8 +443,8 @@ Instruction.break = class Break extends Instruction{ //class name must be upper
     do_item (job_instance){
         let loop_pc = Instruction.loop.pc_of_enclosing_loop(job_instance)
         if (loop_pc === null) {
-            warning("Job " + job_instance.name + ' has a Robot.break instruction at pc: ' + job_instance.program_counter +
-                "<br/> but there is no Robot.loop instruction above it.")
+            warning("Job " + job_instance.name + ' has a Control.break instruction at pc: ' + job_instance.program_counter +
+                "<br/> but there is no Control.loop instruction above it.")
             job_instance.set_up_next_do(1)
         }
         else {
@@ -458,7 +458,7 @@ Instruction.break = class Break extends Instruction{ //class name must be upper
         }
     }
     toString(){ return "break" }
-    to_source_code(args){ return args.indent + "Robot.break()" }
+    to_source_code(args){ return args.indent + "Control.break()" }
 }
 
 Instruction.debugger = class Debugger extends Instruction{ //class name must be upper case because lower case conflicts with js debugger
@@ -468,7 +468,7 @@ Instruction.debugger = class Debugger extends Instruction{ //class name must be
         job_instance.set_up_next_do(1, true)
     }
     toString(){ return "debugger" }
-    to_source_code(args){ return args.indent + "Robot.debugger()" }
+    to_source_code(args){ return args.indent + "Control.debugger()" }
 }
 
 Instruction.error = class error extends Instruction{
@@ -489,11 +489,11 @@ Instruction.error = class error extends Instruction{
         args        = jQuery.extend({}, arguments[0])
         args.value  = this.reason
         args.indent = ""
-        return this_indent + "Robot.error(" + to_source_code(args) + ")"
+        return this_indent + "Control.error(" + to_source_code(args) + ")"
     }
 }
 
-//upper case G to avoid a conflict, but the user instruction is spelled Robot.get_page
+//upper case G to avoid a conflict, but the user instruction is spelled Control.get_page
 Instruction.Get_page = class Get_page extends Instruction{
     constructor (url_or_options, response_variable_name="http_response") {
         super()
@@ -535,7 +535,7 @@ Instruction.Get_page = class Get_page extends Instruction{
         else { job_instance.set_up_next_do(1)} //got the response, move to next instruction
     }
     to_source_code(args){
-        return args.indent + "Robot.get_page(" +
+        return args.indent + "Control.get_page(" +
             to_source_code({value: this.url_or_options}) +
             ((this.response_variable_name == "http_response") ? "" : (", " + to_source_code({value: this.response_variable_name})))  +
             ")"
@@ -566,14 +566,14 @@ Instruction.go_to = class go_to extends Instruction{
             job_instance.set_up_next_do(0)
         }
     }
-    toString(){ return "Robot.go_to instruction_location: " + this.instruction_location }
+    toString(){ return "Control.go_to instruction_location: " + this.instruction_location }
 
     to_source_code(args){
         let this_indent = args.indent
         args        = jQuery.extend({}, arguments[0])
         args.value  = this.instruction_location
         args.indent = ""
-        return this_indent + "Robot.go_to(" + to_source_code(args) + ")"
+        return this_indent + "Control.go_to(" + to_source_code(args) + ")"
     }
 }
 
@@ -634,7 +634,7 @@ Instruction.grab_robot_status = class grab_robot_status extends Instruction{
         args.value  = this.end_index
         args.indent = ""
         let ei_src  = to_source_code(args)
-        return this_indent + "Robot.grab_robot_status(" +
+        return this_indent + "Control.grab_robot_status(" +
                ud_src + ", " + si_src + ", " + ei_src + ")"
     }
 }
@@ -1768,9 +1768,9 @@ Instruction.if_any_errors = class if_any_errors extends Instruction{
                     let the_error_ins = this.instruction_if_error
                     if (the_error_ins == null){
                         let message = "In job: " + job_instance.name +
-                                      ", an instruction of type: Robot.if_any_errors, " +
+                                      ", an instruction of type: Control.if_any_errors, " +
                                       "discovered that job: " + job_name + " has errored."
-                        the_error_ins =  Robot.error(message)
+                        the_error_ins =  Control.error(message)
                     }
                     job_instance.insert_single_instruction(the_error_ins)
                     break;
@@ -1778,7 +1778,7 @@ Instruction.if_any_errors = class if_any_errors extends Instruction{
             }
             else {
                 job_instance.stop_for_reason("errored", "In job: " + job_instance.name +
-                             ", an instruction of type: Robot.if_any_errors<br/> " +
+                             ", an instruction of type: Control.if_any_errors<br/> " +
                              "was passed a job name of:  " + job_name + "<br/> that doesn't exist.")
                 job_instance.set_up_next_do(0)
                 return
@@ -1787,7 +1787,7 @@ Instruction.if_any_errors = class if_any_errors extends Instruction{
         job_instance.set_up_next_do(1)
     }
     to_source_code(args){
-        return args.indent + "Robot.if_any_errors(" +
+        return args.indent + "Control.if_any_errors(" +
                               to_source_code({value: this.job_names}) + ", " +
                               to_source_code({value: this.instruction_if_error}) + ")"
     }
@@ -1797,7 +1797,7 @@ Instruction.include_job = class include_job extends Instruction{
     constructor (job_name, start_loc, end_loc) {
         super()
         if(job_name === undefined){
-            dde_error("Robot.include_job was not passed a <b>job_name</b> which is required.")
+            dde_error("Control.include_job was not passed a <b>job_name</b> which is required.")
         }
         this.job_name = job_name
         //It *might* be good to permit job_name to be a job obj, but
@@ -1815,7 +1815,7 @@ Instruction.include_job = class include_job extends Instruction{
         if(!name_of_job_to_include.startsWith("Job.")) { name_of_job_to_include = "Job." + name_of_job_to_include }
         let job_to_include = value_of_path(name_of_job_to_include)
         if(!(job_to_include instanceof Job)) {
-           dde_error("Robot.include_job passed a job_name: " + this.job_name +
+           dde_error("Control.include_job passed a job_name: " + this.job_name +
                      "<br/>that is not bound to a Job, but rather: " + job_to_include)
         }
         let the_start_loc = ((this.start_loc === null) ? job_to_include.orig_args.program_counter : this.start_loc)
@@ -1845,7 +1845,7 @@ Instruction.include_job = class include_job extends Instruction{
             if(first_arg.startsWith("Job.")) {
                 resolved_first_arg   = value_of_path(first_arg)
                 if(!(resolved_first_arg instanceof Job)){
-                    dde_error("Robot.include_job's first argument: " + first_arg +
+                    dde_error("Control.include_job's first argument: " + first_arg +
                               "<br/>resolved to: " + resolved_first_arg +
                               "<br/>but was expected to resolve to a Job instance.")
                 }
@@ -1866,7 +1866,7 @@ Instruction.include_job = class include_job extends Instruction{
                         let file_src = read_file(first_arg)
                         let result_obj = eval_js_part2(file_src, false) // warning: calling straight eval often doesn't return the value of the last expr in the src, but my eval_js_part2 usually does. //window.eval(file_src)
                         if(result_obj.error_message){
-                           dde_error("Robot.include_job's first argument: " + first_arg +
+                           dde_error("Control.include_job's first argument: " + first_arg +
                                      "<br/>refers to an existing file but<br/>" +
                                      "that file contains the JavaScript error of:<br/>" +
                                      err.message)
@@ -1881,7 +1881,7 @@ Instruction.include_job = class include_job extends Instruction{
                             if(file_src.startsWith("var ")){
                                 let equal_sign_pos = file_src.indexOf("=")
                                 if(equal_sign_pos == -1){
-                                    dde_error("Robot.include_job's first argument: " + first_arg +
+                                    dde_error("Control.include_job's first argument: " + first_arg +
                                               "<br/>refers to an existing file containing variable: " + var_name + ".<br/>" +
                                              "However, their is no equal sign after 'var'")
                                 }
@@ -1892,7 +1892,7 @@ Instruction.include_job = class include_job extends Instruction{
                                     do_list_array_to_use = var_val
                                 }
                                 else {
-                                    dde_error("Robot.include_job's first argument: " + first_arg +
+                                    dde_error("Control.include_job's first argument: " + first_arg +
                                             "<br/>refers to an existing file containing variable: " + var_name + ".<br/>" +
                                             "However, the value is not an array of instructions, but rather:<br/>" +
                                             var_val)
@@ -1902,7 +1902,7 @@ Instruction.include_job = class include_job extends Instruction{
                     }
                 }
                 else {
-                    dde_error("Robot.include_job's first argument: " + first_arg + " has a dot in it<br/>" +
+                    dde_error("Control.include_job's first argument: " + first_arg + " has a dot in it<br/>" +
                                "so it is presumed to be a file path<br/>" +
                                "but no such file exists.")
                 }
@@ -1910,7 +1910,7 @@ Instruction.include_job = class include_job extends Instruction{
             else if (window[first_arg]) {
                 resolved_first_arg = window[first_arg]
                 if(!Array.isArray(resolved_first_arg)) {
-                    dde_error("Robot.include_job's first argument: " + first_arg + " is a variable<br/>" +
+                    dde_error("Control.include_job's first argument: " + first_arg + " is a variable<br/>" +
                               "but the value of the variable is not an array:<br/>" +
                                resolved_first_arg)
                 }
@@ -1919,20 +1919,20 @@ Instruction.include_job = class include_job extends Instruction{
                 }
             }
             else {
-                dde_error("Robot.include_job, got a first argument of: " + first_arg +
+                dde_error("Control.include_job, got a first argument of: " + first_arg +
                           "<br/>which is invalid because, although it is a string,<br/>" +
                           "it isn't a Job name, file name, nor variable name.")
             }
         } //end of first_arg is a string processing
         else {
-            dde_error("Robot.include_job, got a first argument of: " + first_arg +
+            dde_error("Control.include_job, got a first argument of: " + first_arg +
                       "<br/>which is invalid because its not a Job, array, or string.")
         }
         //at this point either the above code errored, or we have
         //resolved_first_arg   set to a Job or a do_list array and
         //do_list_array_to_use set to an array
         if(Instruction.is_oplet_array(do_list_array_to_use)){
-            dde_error("Robot.include_job, got a first argument of: " + first_arg +
+            dde_error("Control.include_job, got a first argument of: " + first_arg +
                       "<br/>but that resolved to an oplet array: " + do_list_array_to_use +
                       "<br/>which is not a valid array of instruction.<br/>" +
                       "If you wrap this oplet array in an outer array, it will be valid.")
@@ -1954,12 +1954,12 @@ Instruction.include_job = class include_job extends Instruction{
                 if(the_end_loc   == null) { the_end_loc   = do_list_array_to_use.length }
             }
             if(!is_non_neg_integer(the_start_loc)){
-                dde_error("Robot.include_job passed start_loc of: " + this.start_loc +
+                dde_error("Control.include_job passed start_loc of: " + this.start_loc +
                           "<br/>but that resolved to: " +  the_start_loc +
                           "<br/>which is not a non-negative integer.")
             }
             else if(!is_non_neg_integer(the_end_loc)){
-                dde_error("Robot.include_job passed end_loc of: " + this.end_loc +
+                dde_error("Control.include_job passed end_loc of: " + this.end_loc +
                           "<br/>but that resolved to: " +  the_end_loc +
                           "<br/>which is not a non-negative integer.")
             }
@@ -1972,7 +1972,7 @@ Instruction.include_job = class include_job extends Instruction{
     }
 
     to_source_code(args){
-        return args.indent + "Robot.include_job(" +
+        return args.indent + "Control.include_job(" +
             to_source_code({value: this.job_name}) + ")"
     }
 }
@@ -1991,7 +1991,7 @@ Instruction.label = class label extends Instruction{
     }
     toString(){ return this.name }
     to_source_code(args){
-        return args.indent + "Robot.label(" +
+        return args.indent + "Control.label(" +
               to_source_code({value: this.name})  + ")"
     }
 }
@@ -2019,7 +2019,7 @@ Instruction.loop = class Loop extends Instruction{
     //If on a normal iteration with more to come, the last inst returned will be a
     //go_to to this loop instruction. (and that go_to might be the ONLY instruction in the returned array)
     //else if null is returned, we're done with this loop.
-    //the returned instruction array may contain a Robot.break instruction that
+    //the returned instruction array may contain a Control.break instruction that
     //ends this loop. That ending is handled in Job.prototype.do_next_item section that handles loop
     get_instructions_for_one_iteration(job_instance){ //strategy: compute:
         //1. iter_index, 2. iter_total,3. iter_val & iter_key, 4. instructions for this iteration & return them
@@ -2041,7 +2041,7 @@ Instruction.loop = class Loop extends Instruction{
                else if (typeof(fn_result) == "number"){
                    if(is_non_neg_integer(fn_result))           { this.resolved_times_to_loop = fn_result; this.iter_total = this.resolved_times_to_loop}
                    else {
-                       job_instance.stop_for_reason("errored", "Robot.loop passed times_to_loop that returned a number: " +  fn_result +
+                       job_instance.stop_for_reason("errored", "Control.loop passed times_to_loop that returned a number: " +  fn_result +
                                                        "\n but it isn't a non-negative integer.")
                        return null
                    }
@@ -2053,13 +2053,13 @@ Instruction.loop = class Loop extends Instruction{
                    this.iter_total = this.resolved_times_to_loop.length
                }
                else if (typeof(fn_result) == "function")       { this.resolved_times_to_loop = fn_result} //rare but possible. //leave iter_total at Infinity
-               else { job_instance.stop_for_reason("errored", "Robot.loop passed function for boolean_int_array_number but that function" +
+               else { job_instance.stop_for_reason("errored", "Control.loop passed function for boolean_int_array_number but that function" +
                                 "\n returned an invalid type: " + fn_result +
                                 "\n It must return a boolean, non-negative integer, array, or function")
                       return null
                }
            }
-           else { job_instance.stop_for_reason("errored", "Robot.loop passed times_to_loop of:\n " +
+           else { job_instance.stop_for_reason("errored", "Control.loop passed times_to_loop of:\n " +
                   this.times_to_loop +
                 "\n but that is not one of the valid types of:\n boolean, non-negative integer, array, or function.")
                 return null
@@ -2074,7 +2074,7 @@ Instruction.loop = class Loop extends Instruction{
             this.resolved_times_to_loop = null //ready for next start of this job
             return null
         }
-        else if (this.resolved_times_to_loop === true){ iter_val = true } //loop forever or until body_fn returns Robot.break instruction
+        else if (this.resolved_times_to_loop === true){ iter_val = true } //loop forever or until body_fn returns Control.break instruction
         else if(is_non_neg_integer(this.resolved_times_to_loop)){
             iter_val = this.iter_index
         }
@@ -2093,13 +2093,13 @@ Instruction.loop = class Loop extends Instruction{
            }
            else if (fn_result === true)  { iter_val = true }
            else {
-               job_instance.stop_for_reason("errored", "Robot.loop passed a function to call to determine if another iteration should occur" +
+               job_instance.stop_for_reason("errored", "Control.loop passed a function to call to determine if another iteration should occur" +
                          "\n but that function returned: " + fn_result +
                          "\n however, only true and false are valid results.")
                return null
            }
        }
-       else { shouldnt("Robot.loop has an invalid this.resolved_times_to_loop of: " + this.resolved_times_to_loop)}
+       else { shouldnt("Control.loop has an invalid this.resolved_times_to_loop of: " + this.resolved_times_to_loop)}
        if(this.iter_index >= this.iter_total) { //done looping but initialize so if the job is restrted, the loop will restart
             this.resolved_times_to_loop = null
             return null
@@ -2117,13 +2117,13 @@ Instruction.loop = class Loop extends Instruction{
                                                  //below we add the go_to at the end.
            }
            //body_fn_result can legitimately be the empty array at this point.
-           //it might also contain a Robot.break instruction.
+           //it might also contain a Control.break instruction.
            let go_to_ins = new Instruction.go_to(job_instance.program_counter)
            body_fn_result.push(go_to_ins)
            return body_fn_result
        }
     }
-    //when called, pc of job_instance will (as of Jun 11 ) be to a Robot.break instruction
+    //when called, pc of job_instance will (as of Jun 11 ) be to a Control.break instruction
     //Just search backwards for the first loop instruction and return its pc.
     //If job_instance.program_counter happens to be pointing at a loop,
     //its just returned.
@@ -2135,7 +2135,7 @@ Instruction.loop = class Loop extends Instruction{
         return null // not good. we didn't find an enclosing loop. this will become a warning.
     }
     to_source_code(args){
-        return args.indent + "Robot.loop(" +
+        return args.indent + "Control.loop(" +
             to_source_code({value: this.times_to_loop})  + ",\n" +
             to_source_code({value: this.body_fn}) +
             ")"
@@ -2150,13 +2150,13 @@ Instruction.out = class Out extends Instruction{
         this.temp  = temp
     }
     do_item (job_instance){
-        let message = "Job: " + job_instance.name + ", instruction ID: " + job_instance.program_counter + ", Instruction type: Robot.out<br/>" + this.val
+        let message = "Job: " + job_instance.name + ", instruction ID: " + job_instance.program_counter + ", Instruction type: IO.out<br/>" + this.val
         out(message, this.color, this.temp)
         job_instance.set_up_next_do(1)
     }
-    toString() { return "Robot.out of: " + this.val }
+    toString() { return "IO.out of: " + this.val }
     to_source_code(args){
-        return args.indent + "Robot.out(" +
+        return args.indent + "IO.out(" +
                 to_source_code({value: this.val})  +
                 ((this.color == "black") ? "" : (", " + to_source_code({value: this.color}))) +
                 (this.temp ? (", " + to_source_code({value: this.temp})) : "") +
@@ -2235,7 +2235,7 @@ Instruction.send_to_job = class send_to_job extends Instruction{
         }
     }
     to_source_code(args){
-        return args.indent + "Robot.send_to_job({" +
+        return args.indent + "Control.send_to_job({" +
             ((this.do_list_item == null)          ? "" :  ("do_list_item: "         + to_source_code({value: this.do_list_item})                 + ", ")) +
             ((this.where_to_insert === undefined) ? "" :  ("where_to_insert: "      + to_source_code({value: this.where_to_insert})      + ", ")) +
             ((this.wait_until_done === false)     ? "" :  ("wait_until_done: "      + to_source_code({value: this.wait_until_done})      + ", ")) +
@@ -2378,12 +2378,12 @@ Instruction.sent_from_job = class sent_from_job extends Instruction{
 Instruction.start_job = class start_job extends Instruction{
     constructor (job_name, start_options={}, if_started="ignore", wait_until_job_done=false) {
         if(!["ignore", "error", "restart"].includes(if_started)){
-            dde_error("Robot.start_job has invalid value for if_started of: " +
+            dde_error("Control.start_job has invalid value for if_started of: " +
                        if_started +
                        '<br/>Valid values are: "ignore", "error", "restart"')
         }
         if(![true, false].includes(wait_until_job_done)){
-            dde_error("Robot.start_job has invalid value for wait_until_job_done of: " +
+            dde_error("Control.start_job has invalid value for wait_until_job_done of: " +
                 if_started +
                 '<br/>Valid values are: true and false')
         }
@@ -2412,17 +2412,17 @@ Instruction.start_job = class start_job extends Instruction{
                     let jobs_in_file = Job.instances_in_file(this.job_name)
                     if(jobs_in_file.length > 0) { this.job_to_start = jobs_in_file[0] }
                     else {
-                        dde_error("Robot.start_job has a job_name that's a path to an existing file: " + this.job_name + "<br/>" +
+                        dde_error("Control.start_job has a job_name that's a path to an existing file: " + this.job_name + "<br/>" +
                                   "but that file doesn't define any jobs.")
                     }
                 }
                 else {
-                    dde_error("Robot.start_job has a job_name of: " + this.job_name +
+                    dde_error("Control.start_job has a job_name of: " + this.job_name +
                               "<br/>but it doesn't resolve to a Job or a file containing one.")
                 }
             }
             if(!(this.job_to_start instanceof Job)){
-                job_instance.stop_for_reason("errored", "Robot.start_job attempted to start non-existent Job." + this.job_name)
+                job_instance.stop_for_reason("errored", "Control.start_job attempted to start non-existent Job." + this.job_name)
                 job_instance.set_up_next_do(0)
             }
         }
@@ -2446,14 +2446,14 @@ Instruction.start_job = class start_job extends Instruction{
                  return
              }
              else if(["starting", "running"].includes(stat)) {
-                job_instance.wait_reason = "Robot.start_job waiting at instruction " +
+                job_instance.wait_reason = "Control.start_job waiting at instruction " +
                                           job_instance.program_counter + " for " + this.job_to_start.name + " to complete."
                 job_instance.set_status_code("waiting")
                 job_instance.set_up_next_do(0)
                 return
              }
              else if(stat == "waiting") {
-                 job_instance.wait_reason = "Robot.start_job waiting at instruction " +
+                 job_instance.wait_reason = "Control.start_job waiting at instruction " +
                      job_instance.program_counter + " for " + this.job_to_start.name + " to complete,\n" +
                       "but its now waiting for: " + this.job_to_start.wait_reason
                  job_instance.set_status_code("waiting")
@@ -2462,7 +2462,7 @@ Instruction.start_job = class start_job extends Instruction{
              }
              else if (stat == "suspended")   {
                     this.job_to_start.unsuspend()
-                    job_instance.wait_reason = "Robot.start_job waiting at instruction " +
+                    job_instance.wait_reason = "Control.start_job waiting at instruction " +
                         job_instance.program_counter + " for " + this.job_to_start.name + " to complete."
                     job_instance.set_status_code("waiting")
                     job_instance.set_up_next_do(0)
@@ -2511,7 +2511,7 @@ Instruction.start_job = class start_job extends Instruction{
            }
            else { //if_started is tested for validity in the constructor, but just in case...
                shouldnt("Job." + job_instance.name +
-                 " has a Robot.start_job instruction with an invalid " +
+                 " has a Control.start_job instruction with an invalid " +
                  "<br/> if_started value of: " + this.if_started)
            }
         }
@@ -2520,7 +2520,7 @@ Instruction.start_job = class start_job extends Instruction{
             job_instance.set_up_next_do(1)
         }
         else {
-            shouldnt("Robot.start_job got a status_code from Job." +
+            shouldnt("Control.start_job got a status_code from Job." +
                       this.job_to_start.name + " that it doesn't understand.")
         }
     }
@@ -2528,7 +2528,7 @@ Instruction.start_job = class start_job extends Instruction{
         return "start_job: " + this.job_name
     }
     to_source_code(args){
-        return args.indent + "Robot.start_job(" +
+        return args.indent + "Control.start_job(" +
             to_source_code({value: this.job_name})  +
             (similar(this.start_options, {}) ? "" : (", " + to_source_code({value: this.start_options}))) +
             ((this.if_started == "ignore")   ? "" : (", " + to_source_code({value: this.if_started}))) +
@@ -2549,7 +2549,7 @@ Instruction.stop_job = class stop_job extends Instruction{
         if (!job_to_stop) { job_to_stop = job_instance }
         job_to_stop.ending_program_counter = this.instruction_location
         if (!this.stop_reason){
-            this.stop_reason = "Stopped by Job." + job_instance.name + " instruction: Robot.stop_job."
+            this.stop_reason = "Stopped by Job." + job_instance.name + " instruction: Control.stop_job."
         }
         job_to_stop.stop_for_reason("completed", this.stop_reason, this.perform_when_stopped)
           //this is not an error or interrupted, its a normal stoppage of the job.
@@ -2572,7 +2572,7 @@ Instruction.stop_job = class stop_job extends Instruction{
         props_args.value = this.perform_when_stopped
         let pws_src = to_source_code(props_args)
         let result = indent +
-                     "Robot.stop_job(" +
+                     "Control.stop_job(" +
                      loc_src + ", " +
                      sr_src          + ", " +
                      pws_src +
@@ -2604,7 +2604,7 @@ Instruction.suspend = class suspend extends Instruction{
         }
     }
     to_source_code(args){
-        return args.indent + "Robot.suspend(" +
+        return args.indent + "Control.suspend(" +
             to_source_code({value: this.job_name}) +
             ((this.reason == "") ? "" : (", " + to_source_code({value: this.reason})))  +
             ")"
@@ -2636,7 +2636,7 @@ Instruction.unsuspend = class unsuspend extends Instruction{
 
     }
     to_source_code(args){
-        return args.indent + "Robot.unsuspend(" +
+        return args.indent + "Control.unsuspend(" +
             to_source_code({value: this.job_name}) +
             ")"
     }
@@ -2711,7 +2711,7 @@ Instruction.sync_point = class sync_point extends Instruction{
         }
     }
     to_source_code(args){
-        return args.indent + "Robot.sync_point("   +
+        return args.indent + "Control.sync_point("   +
             to_source_code({value: this.name})     + ", " +
             to_source_code({value: this.job_names}) +
             ")"
@@ -2730,7 +2730,7 @@ Instruction.wait_until = class wait_until extends Instruction{
         else if (Array.isArray(this.fn_date_dur) ||
                  (typeof(this.fn_date_dur) == "object")){
                  if(!Job.instruction_location_to_job(this.fn_date_dur, false)){
-                     warning("Robot.wait_until passed an array or literal object<br/>" +
+                     warning("Control.wait_until passed an array or literal object<br/>" +
                              "for an instruction location but<br/>" +
                              "it does not contain a job.<br/>" +
                              "That implies this job will wait for itself, and thus forever.<br/>" +
@@ -2739,7 +2739,7 @@ Instruction.wait_until = class wait_until extends Instruction{
         }
         else if (fn_data_dur instanceof Job) {}
         else {
-            dde_error("Robot.wait_until instruction passed: " + this.fn_date_dur +
+            dde_error("Control.wait_until instruction passed: " + this.fn_date_dur +
                       '<br/> which is not a number, date, function,<br/>' +
                       '"new_instruction" or instruction location array.')
         }
@@ -2787,7 +2787,7 @@ Instruction.wait_until = class wait_until extends Instruction{
                 //so that we can keep the tcp connection alive, send a virtual heartbeat
                 let new_wait_dur_in_sec = this.fn_date_dur - (dur_from_start_in_ms / 1000)
                 let new_instructions = [make_ins("g"), //just a do nothing to get a round trip to Dexter.
-                                       Robot.wait_until(new_wait_dur_in_sec)] //create new wait_until to wait for the remaining time
+                                       Control.wait_until(new_wait_dur_in_sec)] //create new wait_until to wait for the remaining time
                 job_instance.insert_instructions(new_instructions)
                 //job_instance.added_items_count[job_instance.program_counter] += 2 this is done automatically by insert_instructions
                 this.start_time_in_ms = null //essential for the 2nd thru nth call to start() for this job.
@@ -2865,7 +2865,7 @@ Instruction.wait_until = class wait_until extends Instruction{
             var loc_pc = loc_job_instance.instruction_location_to_id(this.fn_date_dur)
             if(loc_pc > loc_job_instance.program_counter){ //wait until loc_job_instance advances
                 if(loc_job_instance.stop_reason){
-                    warning("Robot.wait_until is waiting for job: " + loc_job_instance.name +
+                    warning("Control.wait_until is waiting for job: " + loc_job_instance.name +
                             "<br/>but that job is stopped, so it will probably wait forever.")
                 }
                 job_instance.wait_reason = "a wait_until instruction_location is reached."
@@ -2887,7 +2887,7 @@ Instruction.wait_until = class wait_until extends Instruction{
         }
     }
     to_source_code(args){
-        return args.indent + "Robot.wait_until("       +
+        return args.indent + "Control.wait_until("       +
             to_source_code({value: this.fn_date_dur, function_names: true})  +
             ")"
     }
diff --git a/core/instruction_control.js b/core/instruction_control.js
new file mode 100644
index 00000000..24b45c01
--- /dev/null
+++ b/core/instruction_control.js
@@ -0,0 +1,24 @@
+var {Robot} = require('./robot.js')
+
+class Control{}
+
+Control.break = Robot.break
+Control.go_to = Robot.go_to
+Control.loop = Robot.loop
+Control.label = Robot.label
+Control.suspend = Robot.suspend
+Control.unsuspend = Robot.unsuspend
+Control.sync_point = Robot.sync_point
+Control.wait_until = Robot.wait_until
+
+Control.include_job = Robot.include_job
+Control.send_to_job = Robot.send_to_job
+Control.sent_from_job = Robot.sent_from_job
+Control.start_job = Robot.start_job
+Control.stop_job = Robot.stop_job
+
+Control.debugger = Robot.debugger
+Control.error = Robot.error
+Control.if_any_errors = Robot.if_any_errors
+
+module.exports.Control = Control
\ No newline at end of file
diff --git a/core/instruction_dexter.js b/core/instruction_dexter.js
index b4d755fa..ecf28a29 100644
--- a/core/instruction_dexter.js
+++ b/core/instruction_dexter.js
@@ -689,7 +689,7 @@ Instruction.Dexter.read_file = class read_file extends Instruction.Dexter{
         if(!this.robot) { this.set_instruction_robot_from_job(job_instance) }
         if (this.first_do_item_call) {
             const sim_actual = Robot.get_simulate_actual(this.robot.simulate)
-            //have to check for dexter_file_systems or else the 2nd time I rn the job, it will
+            //have to check for dexter_file_systems or else the 2nd time I run the job, it will
             //have a double length path with 2 dexter_file_systems parts
             if (!this.source.startsWith("/") && (sim_actual === true) && !this.source.startsWith("dexter_file_systems")) {
                 this.fuller_source = "dexter_file_systems/" + this.robot.name + "/" + this.source
@@ -703,23 +703,23 @@ Instruction.Dexter.read_file = class read_file extends Instruction.Dexter{
         //the below can never happen
         //if (this.is_done) {
         //    this.processing_r_instruction = false
-        //    return Robot.break()
+        //    return Control.break()
         //}
         let read_file_instance = this
         let robot = this.robot //closed over
-        job_instance.insert_single_instruction(Robot.loop(true, function(content_hunk_index){
+        job_instance.insert_single_instruction(Control.loop(true, function(content_hunk_index){
                 let job_instance = this
                 if (read_file_instance.is_done) {
                     //init this inst just in case it gets used again
                     read_file_instance.is_done = false
                     read_file_instance.first_do_item_call = true
                     read_file_instance.processing_r_instruction = false
-                    return Robot.break()
+                    return Control.break()
                 }
                 else {
                     read_file_instance.processing_r_instruction = true
                     return [make_ins("r", content_hunk_index, read_file_instance.fuller_source, robot),
-                            Robot.wait_until(function(){
+                            Control.wait_until(function(){
                                 return !read_file_instance.processing_r_instruction
                              })
                            ]
@@ -744,6 +744,7 @@ Instruction.Dexter.read_file = class read_file extends Instruction.Dexter{
     }
 
     //called from socket.js
+    //payload_string_maybe is a string or an error code (an int > 0)
     static got_content_hunk(job_id, ins_id, payload_string_maybe){
         let job_instance = Job.job_id_to_job_instance(job_id)
         if (job_instance == null){
@@ -764,9 +765,13 @@ Instruction.Dexter.read_file = class read_file extends Instruction.Dexter{
         }
     }
 
-    //used by Dexter.write_file too
+    //used by Dexter.write_file to prepare path for passing it to make_ins("W" ...)
+    //because the path used for write_file defaults to "srv/samba/share/dde_apps",
+    //whereas the path for make_ins("W" ...) defaults to srv/samba/share
+    //see Dexter.srv_samba_share_default_to_absolute_path to do the opposite
     static add_default_file_prefix_maybe(path){
-        if(path.startsWith("/"))         { return path }
+        if      (path.startsWith("/"))   { return path }
+        else if (path.startsWith("#"))   { return path }
         else if (path.startsWith("./"))  { return "dde_apps/" + path.substring(2) }
         else if (path.startsWith("../")) { return path.substring(3) } //will go to dexrun's default foler, ie /srv/samba/share/
         else                             { return "dde_apps/" + path }
diff --git a/core/instruction_io.js b/core/instruction_io.js
new file mode 100644
index 00000000..8089e3c6
--- /dev/null
+++ b/core/instruction_io.js
@@ -0,0 +1,16 @@
+var {Robot} = require('./robot.js')
+
+class IO{}
+
+IO.get_page     = Robot.get_page
+IO.grab_robot_status = Robot.grab_robot_status
+IO.out          = Robot.out
+IO.show_picture = Robot.show_picture
+IO.show_video   = Robot.show_video
+IO.take_picture = Robot.take_picture
+//read_file and write_file are Dexter-specific instructions only,
+//so they are under Dexter.read_file and Dexter.write_file
+
+module.exports.IO = IO
+
+
diff --git a/core/job.js b/core/job.js
index 8871b7f8..22b6fa45 100644
--- a/core/job.js
+++ b/core/job.js
@@ -253,10 +253,10 @@ class Job{
                 inter_do_item_dur: 0.005, //we don't need to have fast communication with Dexter. Minimize traffic
                 do_list:[
                         Dexter.write_file("job/run/" + dde_monitor_job_instance.name + ".dde", job_src),
-                        Robot.loop(true,
+                        Control.loop(true,
                             function(){
                                 if(this.user_data.dexter_log !== undefined) { //got a dexter log meaning the monitored job is over.
-                                    return Robot.break()
+                                    return Control.break()
                                 }
                                 else if ((this.user_data.stop_job_running_on_dexter) &&
                                          (!this.user_data.already_handled_stop_job))  { //set by clicking the job button
@@ -1658,7 +1658,7 @@ Job.prototype.handle_start_object = function(cur_do_item){
                 }
             }
             else if(cur_do_item.dur) {
-                this.insert_single_instruction(Robot.wait_until(cur_do_item.dur))
+                this.insert_single_instruction(Control.wait_until(cur_do_item.dur))
             }
             if (!start_args)                    { cur_do_item.start.apply(the_inst_this) }
             else if (Array.isArray(start_args)) { cur_do_item.start.apply(the_inst_this, start_args) }
@@ -2261,7 +2261,7 @@ Job.prototype.increment_added_items_count_for_parent_instruction_of = function(i
                (type_of(par_loc_index) == "number") &&
                (par_loc_index < this.program_counter)) { //backwards goto in same job
                let loop_inst_maybe = this.do_list[par_loc_index]
-               if(loop_inst_maybe instanceof Robot.loop){ //shoot, we can't make the inserted instruction a sub_object of a loop's go_to
+               if(loop_inst_maybe instanceof Control.loop){ //shoot, we can't make the inserted instruction a sub_object of a loop's go_to
                     //so we've got to climb up the tree and increment the next instr that has a positive added_items_count
                     //but that aic must "contain" the instr_id of the added instruction
                    for(let maybe_par_id = par_loc_index - 1; maybe_par_id >= 0; maybe_par_id--){
diff --git a/core/out.js b/core/out.js
index f9626490..05ffdbfb 100644
--- a/core/out.js
+++ b/core/out.js
@@ -108,6 +108,7 @@ function out_eval_result(text, color="#000000", src){
             src = replace_substrings(src, "'", "&apos;")
             src_formatted = " <code title='" + src + "'>&nbsp;" + src_formatted + src_formatted_suffix + "&nbsp;</code>"
         }
+        //if (src_formatted == "") { console.log("_____out_eval_result passed src: " + src + " with empty string for src_formatted and text: " + text)}
         text = "<fieldset><legend><i>Result of evaling </i>" + src_formatted + "</legend>" +  text + "</fieldset>"
         append_to_output(text)
     }
diff --git a/core/robot.js b/core/robot.js
index db9307c9..81dc2e7b 100644
--- a/core/robot.js
+++ b/core/robot.js
@@ -114,10 +114,10 @@ var Robot = class Robot {
     }
 
     //Control Instructions
-    static break(){ //stop a Robot.loop
+    static break(){ //stop a Control.loop
         return new Instruction.break()
     }
-    static debugger(){ //stop a Robot.loop
+    static debugger(){ //stop a Control.loop
         return new Instruction.debugger()
     }
     static error(reason){ //declare that an error happened. This will cause the job to stop.
@@ -231,7 +231,7 @@ var Robot = class Robot {
     //default to undefined.
     static get_page(url_or_options, response_variable_name="http_response"){
         if(url_or_options === undefined){
-            dde_error("Robot.get_page called with no <b>url_or_options</b> argument<br/>" +
+            dde_error("Control.get_page called with no <b>url_or_options</b> argument<br/>" +
                       "which is typically the string of a url.")
         }
         return new Instruction.Get_page(url_or_options, response_variable_name)
@@ -1071,16 +1071,16 @@ Dexter = class Dexter extends Robot {
                             }
                             else if ((this_robot.simulate === false) || (this_robot.simulate === "both")){
                                 this_job.stop_for_reason("errored", "The job: " + this_job.name + " is using robot: " + this_robot.name +
-                                "<br/>\nbut could not connect with a Dexter robot at: " +
+                                "<br/>but could not connect with a Dexter robot at: " +
                                 this_robot.ip_address + " port: " + this_robot.port +
-                                "<br/>\nYou can change this robot to <code>simulate=true</code> and run it.")
+                                "<br/>You can change this robot to <code>simulate=true</code> and run it.")
                             }
                             else if (this_robot.simulate === null){
                                 if ((sim_actual === false) || (sim_actual === "both")){
                                     this_job.stop_for_reason("errored", "The job: " + this_job.name + " is using robot: " + this_robot.name +
-                                    '<br/>\nwith the Jobs menu "Simulate?" item being: ' + sim_actual  +
-                                    "<br/>\nbut could not connect with Dexter." +
-                                    "<br/>\nYou can use the simulator by switching the menu item to 'true'. ")
+                                    '<br/>with the Jobs menu "Simulate?" item being: ' + sim_actual  +
+                                    "<br/>but could not connect with Dexter." +
+                                    "<br/>You can use the simulator by switching the menu item to 'true'. ")
                                     out("Could not connect to Dexter.", "red")
                                 }
                                 else {
@@ -1965,8 +1965,9 @@ Dexter.write_file = function(file_name=null, content=""){
     return instrs
 }
 
-//depricated. Note reversed args from Dexter.write_file
+//depricated. Note reversed args from Dexter.write_file and default path adjustment
 Dexter.write_to_robot = function(content="", file_name=null){
+    file_name = Dexter.srv_samba_share_default_to_absolute_path(file_name)
     return Dexter.write_file(file_name, content)
 }
 
@@ -2009,12 +2010,27 @@ new Job({name: "my_job",
     do_list: [out(Dexter.write_file(data, "/srv/samba/share/test.txt"))]})
 */
 
-Dexter.read_file = function (source, destination){
+Dexter.read_file = function(source, destination="read_file_content"){
     return new Instruction.Dexter.read_file(source, destination)
 }
-Dexter.read_from_robot = Dexter.read_file //depricated
+//examples pf path input:
+//  ./foo.txt =>  /srv/samba/share/foo.txt
+// ../foo.txt =>  /srv/samba/foo.txt
+//    foo.txt => /srv/samba/share/foo.txt
+Dexter.srv_samba_share_default_to_absolute_path = function(path){
+    if      (path.startsWith("/"))   { return path }
+    else if (path.startsWith("#"))   { return path }
+    else if (path.startsWith("./"))  { return "/srv/samba/share/" + path.substring(2) }
+    else if (path.startsWith("../")) { return "/srv/samba/"       + path.substring(3) }
+    else                             { return "/srv/samba/share/" + path }
+}
+
+Dexter.read_from_robot =  function (source, destination="read_file_content"){ //depricated. simlar to read_file but differs in that srv_sama_share is the default folder
+    source = Dexter.srv_samba_share_default_to_absolute_path(source)
+    return Dexter.read_file(source, destination)
+}
 
-Dexter.prototype.read_file = function (source, destination){
+Dexter.prototype.read_file = function (source, destination="read_file_content"){
     return new Instruction.Dexter.read_file(source, destination, this)
 }
 
diff --git a/core/socket.js b/core/socket.js
index 86f5937c..0b7b8bb8 100755
--- a/core/socket.js
+++ b/core/socket.js
@@ -110,7 +110,11 @@ var Socket = class Socket{
             const name = instruction_array[Instruction.INSTRUCTION_ARG0]
             const args = instruction_array.slice(Instruction.INSTRUCTION_ARG1, instruction_array.length)
             const first_arg = args[0]
-            if(["MaxSpeed", "StartSpeed", "Acceleration"].includes(name)){
+            //first convert degress to arcseconds
+            if(["MaxSpeed", "StartSpeed", "Acceleration",
+                "AngularSpeed", "AngularSpeedStartAndEnd", "AngularAcceleration",
+                "CartesianPivotSpeed", "CartesianPivotSpeedStart", "CartesianPivotSpeedEnd",
+                "CartesianPivotAcceleration", "CartesianPivotStepSize" ].includes(name)){
                 let instruction_array_copy = instruction_array.slice()
                 instruction_array_copy[Instruction.INSTRUCTION_ARG1] = Math.round(first_arg * _nbits_cf)
                 return instruction_array_copy
@@ -120,6 +124,15 @@ var Socket = class Socket{
                 instruction_array_copy[Instruction.INSTRUCTION_ARG1] = Math.round(first_arg * 3600) //deg to arcseconds
                 return instruction_array_copy
             }
+            else if (["CommandedAngles", "RawEncoderErrorLimits", "RawVelocityLimits"].includes(name)){
+                let instruction_array_copy = instruction_array.slice()
+                for(let i = Instruction.INSTRUCTION_ARG1; i <  instruction_array.length; i++){
+                    let orig_arg = instruction_array_copy[1]
+                    instruction_array_copy[i] = Math.round(orig_arg * 3600)
+                }
+                return instruction_array_copy
+            }
+            //dynamixel conversion
             else if (name == "EERoll"){ //J6 no actual conversion here, but this is a convenient place
                         //to put the setting of robot.angles and is also the same fn where we convert
                         // the degrees to dynamixel units of 0.20 degrees
@@ -131,15 +144,22 @@ var Socket = class Socket{
                 rob.angles[6] = first_arg * Socket.DEGREES_PER_DYNAMIXEL_UNIT
                 return instruction_array
             }
-            else if (name == "CommandedAngles"){
+            //convert meters to microns
+            else if ((name.length == 5) && name.startsWith("Link")){
                 let instruction_array_copy = instruction_array.slice()
-                for(let i = Instruction.INSTRUCTION_ARG1; i <  instruction_array.length; i++){
+                let new_val = Math.round(first_arg / _um) //convert from meters to microns
+                instruction_array_copy[Instruction.INSTRUCTION_ARG1] = new_val
+            }
+            else if ("LinkLengths" == "name"){
+                let instruction_array_copy = instruction_array.slice()
+                for(let i = Instruction.INSTRUCTION_ARG1; i < instruction_array.length; i++){
                     let orig_arg = instruction_array_copy[1]
-                    instruction_array_copy[i] = Math.round(orig_arg * 3600)
+                    instruction_array_copy[i] = Math.round(orig_arg / _um)
                 }
                 return instruction_array_copy
             }
-            else if ((name.length == 5) && name.startsWith("Link")){
+            else if (["CartesianSpeed", "CartesianSpeedStart", "CartesianSpeedEnd", "CartesianAcceleration",
+                      "CartesianStepSize", ].includes(name)){
                 let instruction_array_copy = instruction_array.slice()
                 let new_val = Math.round(first_arg / _um) //convert from meters to microns
                 instruction_array_copy[Instruction.INSTRUCTION_ARG1] = new_val
@@ -247,9 +267,10 @@ var Socket = class Socket{
         //rob.robot_done_with_instruction and the rs_status from Dexter, not the simulated one.
     }*/
 
+    //called both from Dexter returning, and from Sim.
     //data should be a Buffer object. https://nodejs.org/api/buffer.html#buffer_buffer
     //payload_string_maybe is undefined when called from the robot,
-    //and if called from sim is either a string (everything ok)
+    //and if called from sim and we have an "r" oplet, it is either a string (everything ok)
     //or an integer (1) when sim get file-not-found.
     //
     static on_receive(data, robot_name, payload_string_maybe){
@@ -274,7 +295,7 @@ var Socket = class Socket{
 
         robot_status[Dexter.INSTRUCTION_TYPE] = oplet
         if(oplet == "r"){ //Dexter.read_file
-            if(typeof(payload_string_maybe) == "number") { //should be 1
+            if(typeof(payload_string_maybe) == "number") { //only can hit im sim.// should be 2 if it hits
                 robot_status[Dexter.ERROR_CODE] = 0 //even though we got an error from file_not_found,
                 //don't set the error in the robot status. Just let that error
                 //be used in r_payload_grab_aux which passes it to got_content_hunk
@@ -282,37 +303,38 @@ var Socket = class Socket{
                 // read_file_instance.is_done = true
                 //so the loop in read_file_instance terminates normally.
             }
+            else if ((payload_string_maybe === undefined) && //real. not simulated
+                     (robot_status[Dexter.ERROR_CODE] > 0)) { //got an error, probably file not found
+                payload_string_maybe = robot_status[Dexter.ERROR_CODE]
+                robot_status[Dexter.ERROR_CODE] = 0
+            }
+            //now robot_status does NOT have an error code, but if there is an error,
+            //payload_string_maybe is an int > 0
+            //but if no error, payload_string_maybe is a string
             Socket.r_payload_grab(data, robot_status, payload_string_maybe)
         }
         else {
             Socket.convert_robot_status_to_degrees(robot_status)
         }
-        //let job_id       = robot_status[Dexter.INSTRUCTION_JOB_ID]
-        //let job_instance = Job.id_to_job(job_id)
-        //let robot_name   = job_instance.robot.name
         let rob = Dexter[robot_name]
         //Socket.robot_is_waiting_for_reply[robot_name] = false
         rob.robot_done_with_instruction(robot_status) //robot_status ERROR_CODE *might* be 1
     }
 
     static r_payload_grab(data, robot_status, payload_string_maybe) {
-        let payload_string
-        if(payload_string_maybe === undefined) {
+        if(payload_string_maybe === undefined) { //only in real, not in sim
             let payload_length = robot_status[Socket.PAYLOAD_LENGTH]
             let data_start = Socket.PAYLOAD_START
             let data_end = data_start + payload_length
-            payload_string = (data.slice(data_start, data_end).toString())
+            payload_string_maybe = (data.slice(data_start, data_end).toString())
         }
         else if (payload_string_maybe instanceof Buffer) { //beware, sometimes payload_string_maybe is a buffer. This converts it to a string.
-            payload_string =  payload_string_maybe.toString()
-        }
-        else {
-            payload_string =  payload_string_maybe  //normally a string, but is an integer if file not found
+            payload_string_maybe = payload_string_maybe.toString()
         }
-        Socket.r_payload_grab_aux(robot_status, payload_string)  //payload_string still might be an integer error code, ie 1 when file not found
+        //else { payload_string_maybe is normally a string, but could be an integer of > 0 if there's an error }
+        Socket.r_payload_grab_aux(robot_status, payload_string_maybe)  //payload_string still might be an integer error code, ie 1 when file not found
     }
 
-    //called by both Socket.r_payload_grab AND DexterSim.process_next_instruction_r
     //payload_string_maybe could be a string or an integer error code like 1 when no file found
     static r_payload_grab_aux(robot_status, payload_string_maybe){
         let job_id = robot_status[Dexter.JOB_ID]
diff --git a/core/storage.js b/core/storage.js
index 77435048..7e142c46 100644
--- a/core/storage.js
+++ b/core/storage.js
@@ -80,7 +80,13 @@ function persistent_save(){
     const path = add_default_file_prefix_maybe("dde_persistent.json")
     var content = JSON.stringify(persistent_values)
     content = replace_substrings(content, ",", ",\n") //easier to read & edit
-    content = "//Upon DDE launch, this file is loaded before dde_apps/dde_init.js\n//Use persistent_get(key) and persistent_set(key, new_value)\n//to access each of the below variables.\n\n" + content
+    content = "//This file content must live in Documents/dde_apps/dde_persistent.json\n" +
+              "//Upon DDE launch, this file is loaded before Documents/dde_apps/dde_init.js\n" +
+              "//Because this file is automatically saved while running DDE, only edit it with DDE closed.\n" +
+              "//It must be syntactically perfect, so edit it with care.\n" +
+              "//Within DDE, use persistent_get(key) and persistent_set(key, new_value)\n" +
+              "//to access each of the below variables.\n\n"
+              + content
     write_file(path, content)
 }
 module.exports.persistent_save = persistent_save
@@ -95,12 +101,14 @@ function persistent_load(){
         persistent_values = JSON.parse(content)
         //just in case files got saved out with backslashes, change to only slashes.
         let files = persistent_values.files_menu_paths
-        let slashified_files = []
-        for(let file of files){
-            file = convert_backslashes_to_slashes(file)
-            slashified_files.push(file)
+        if(files){
+            let slashified_files = []
+            for(let file of files){
+                file = convert_backslashes_to_slashes(file)
+                slashified_files.push(file)
+            }
+            persistent_values.files_menu_paths = slashified_files
         }
-        persistent_values.files_menu_paths = slashified_files
     }
 }
 
@@ -177,6 +185,7 @@ function dde_init_dot_js_initialize() {
     }
     else { //the folder exists, but no dde_init.js file
         const initial_dde_init_content =
+                  '//This file content must live in Documents/dde_apps/dde_init.js\n' +
                   '//This file is loaded when you launch DDE.\n'     +
                   '//Add whatever JavaScript you like to the end.\n' +
                   '\n' +
@@ -418,11 +427,11 @@ module.exports.file_exists = file_exists
 
 //only works for dde computer, not dexter computer paths.
 function make_folder(path){
-    path = make_full_path(path)
-    let path_array = path.split("/")
+    path = make_full_path(path) //now parh is os_specific
+    let path_array = path.split(folder_separator())
     let path_being_built = ""
     for(let path_part of path_array){
-        path_being_built += ("/" + path_part)
+        path_being_built += (folder_separator() + path_part)
         let path_to_use = adjust_path_to_os(path_being_built)
 
         if(!file_exists(path_to_use)){
diff --git a/core/to_source_code.js b/core/to_source_code.js
index 7c5a5a2f..b9085a2d 100644
--- a/core/to_source_code.js
+++ b/core/to_source_code.js
@@ -86,7 +86,8 @@ function to_source_code_array(args){
 
 function to_source_code_instruction_array(args){
     let inst_array = args.value
-    let result = args.indent + "make_ins("
+    let the_indent = ((args.indent === undefined) ? "" : args.indent)
+    let result = the_indent + "make_ins("
     let prop_args = Object.assign({}, args) //jQuery.extend({}, args)
     prop_args.indent = ""
     for(let prop_index in inst_array) {
diff --git a/core/utils.js b/core/utils.js
index 268d26e8..c8cfc825 100644
--- a/core/utils.js
+++ b/core/utils.js
@@ -1214,7 +1214,7 @@ module.exports.trim_string_quotes = trim_string_quotes
 
 //returns a string that starts with the first char of src
 //by trimming whitespace and comments from the front of src
-//used by Robot.include_job
+//used by Control.include_job
 function trim_comments_from_front(src){
     src = src.trimLeft()
     if(src.startsWith("//")) {
@@ -1286,6 +1286,14 @@ function format_number(num, digits_before_point=6, digits_after_point=3, allow_f
 }
 module.exports.format_number = format_number
 
+// ordinal_string(0) => "0th"   ordinal_string(1) => "1st"
+// ordinal_string(11) => "11th" ordinal_string(21) => "21st"
+function ordinal_string(n){
+    let suffix = ["st","nd","rd"][((n+90)%100-10)%10-1]||"th"
+    return n + suffix
+}
+module.exports.ordinal_string = ordinal_string
+
 //used by users in calling  DXF.init_drawing for its dxf_filepath arg
 function text_to_lines(text) { return txt.text_to_lines(text) }
 module.exports.text_to_lines = text_to_lines
diff --git a/de/de_testsuite.js b/de/de_testsuite.js
index c54311e9..c250628c 100644
--- a/de/de_testsuite.js
+++ b/de/de_testsuite.js
@@ -1,6 +1,6 @@
 
 new TestSuite("DE comparison",
-    ['DE.de_to_js("4 lessasdfsadf with 67.")', '"(4 < 67)"'],
+    ['DE.de_to_js("4 less with 67.")', '"(4 < 67)"'],
     ['DE.de_to_js("4 more than with 67.")', '"(4 > 67)"'],
     ['DE.de_to_js("44 equals with 67.")', '"(44 == 67)"'],
     ['DE.de_to_js("44 not equals with 67.")', '"(44 != 67)"'],
@@ -51,7 +51,10 @@ new TestSuite("DE call",
         ['DE.de_to_js("launch with  .")', '"launch()"'],
     	['DE.de_to_js("launch with.")', '"launch()"'],
         ['DE.de_to_js("launch with .")', '"launch()"'],
-        ['DE.de_to_js("launch with . ")', '"launch()"']
+        ['DE.de_to_js("launch with . ")', '"launch()"'],
+        ['DE.de_to_js("man/Joe launch with 123, 456.")', "man.Joe.launch(123, 456)"]
+
+
 )
 
 new TestSuite("DE comment",
@@ -101,7 +104,9 @@ new Testsuite("fn def",
     ['DE.de_to_js("to double with num default 2. do num plus with num.!")', 
      '"function double(num=2){(num + num)}"'],
     ['DE.de_to_js("to double with num of 2. do num plus with num.!")', 
-     '"function double({num=2}={}){(num + num)}"']
+     '"function double({num=2}={}){(num + num)}"'],
+    ['DE.de_to_js("to unnamed with num of 2. do num plus with num.!"', //not implemented
+    '"function({num=2}={}){(num + num)}"']
      )
      
 new TestSuite("keyword_exprs_block",
@@ -109,6 +114,7 @@ new TestSuite("keyword_exprs_block",
     ['DE.de_to_js("otherwise do 3 plus with 4.!")', '"else{(3 + 4)}"'],
     ['DE.de_to_js("finally do 3 plus with 4.!")', '"finally{(3 + 4)}"'],
     ['DE.de_to_js("if error err do out with 234. 22 plus with 44.!")', '"catch(err){out(234)\\n(22 + 44)}"']
+
 )
 
 new TestSuite("if_but_if",
@@ -123,6 +129,10 @@ new TestSuite("if_but_if",
      ['DE.de_to_js("if true do!")', '"if(true){}"']
 )
 
+
+
+
+
 DE.eval("loop 5 do loop_result push with loop_value.!")
 DE.de_to_js("loop 5 do out with loop_value.!")
 
diff --git a/de/de_testsuite_backup.js b/de/de_testsuite_backup.js
index 5672e96d..17a31fc8 100644
--- a/de/de_testsuite_backup.js
+++ b/de/de_testsuite_backup.js
@@ -49,7 +49,8 @@ new TestSuite("DE call",
         ['DE.de_to_js("launch with  .")', '"launch()"'],
     	['DE.de_to_js("launch with.")', '"launch()"'],
         ['DE.de_to_js("launch with .")', '"launch()"'],
-        ['DE.de_to_js("launch with . ")', '"launch()"']
+        ['DE.de_to_js("launch with . ")', '"launch()"'],
+        ['DE.de_to_js("man/Joe launch with 123, 456.")', "man.Joe.launch(123, 456)"]
 )
 
 new TestSuite("DE comment",
diff --git a/doc/eval.html b/doc/eval.html
index a614d726..8eebc294 100644
--- a/doc/eval.html
+++ b/doc/eval.html
@@ -8,7 +8,7 @@
     samp { background-color: #cefff3; }
     .new_code { background-color: #ffd9b4; }
 </style>
-<h3>How to Think Like a Computer</h3>
+<h3 id="how_to_think_like_a_computer_doc_id">How to Think Like a Computer</h3>
 <i>Fry Sep 13, 2017</i><br/>
 <i>Note: most of this content is available in video format at
 <a href="http://hdrobotic.com/webinar#how_to_think_like_a_computer" target="_blank">How To Think Like A Computer</a></i><br/>
diff --git a/doc/guide.html b/doc/guide.html
index 0ce05d39..f95cf4cc 100644
--- a/doc/guide.html
+++ b/doc/guide.html
@@ -330,12 +330,10 @@
 
     <details class="doc_details"><summary>Verify Joint Wiring</summary>
     To verify that all 5 joints are wired correctly:
-    <ol><li>Verify that the Jumpers on processor board are configured like in this picture.<br/>
-             <img src="doc/processor_board_jumpers.png" alt="processor board jumpers picture."/><br/>
-             This is a picture of the lower half of Dexter's processor board.
-             The 3 jumpers that must be in the right position are the horizontal
-             black rectangles on the lower left part of the board.
-             </li>
+    <ol><li>Verify that the jumpers on Dexter's processor board are configured correctly.
+            See <a href="https://github.com/HaddingtonDynamics/Dexter/wiki/Troubleshooting" target="_blank">Troubleshooting</a>
+            for details.
+        </li>
         <li>Choose DDE's Jobs menu/Run Instruction/Show Dialog..."</li>
         <li>for J1 through J5, make each Joint's 30 degrees with the others at 0,
             and click on move_all_joints and observe that that joint should move by 30 degrees.
@@ -358,7 +356,7 @@
         On Macs, click on the "Radio waves" icon in the upper right of the screen.<br/>
         Choose "Turn WiFi Off".
         <p></p>
-        <a  target="_blank" href="https://github.com/HaddingtonDynamics/Dexter/wiki/Dexter-Networking">
+        <a target="_blank" href="https://github.com/HaddingtonDynamics/Dexter/wiki/Dexter-Networking">
         Dexter Networking details.</a><br/>
         <b>Using DDE</b><br/>
         In the Misc pane header simulate radion buttons, choose "real".
@@ -724,7 +722,7 @@ <h5>Step 3</h5>
                     now in the Output pane header to run it.</li>
                <li><b>Debug entire Job</b> by:
                   <ul><li>Looking at its output in the Output pane from
-                           error messages and <a href="#" onclick="open_doc('Robot.out_doc_id')">Robot.out</a> instructions.</li>
+                           error messages and <a href="#" onclick="open_doc('IO.out_doc_id')">IO.out</a> instructions.</li>
                       <li>Looking at the <i>Simulate Dexter</i> pane
                            (select from the Misc pane header menu).</li>
                       <li>Inspect the Job's data structure
@@ -760,7 +758,7 @@ <h5>Step 3</h5>
                 Checking the <b>pause</b> checkbox will cause running jobs to pause
                 when they have completed their current instruction. Jobs started when
                 the pause button is checked will pause right before the first user instruction
-                on the do_list is run. If the running Job executes a <code>Robot.debugger</code>
+                on the do_list is run. If the running Job executes a <code>Control.debugger</code>
                 instruction, that will also cause the job to pause.
                 <p></p>
                 When a job is paused, clicking the <button>Go</button> button will cause
@@ -768,16 +766,16 @@ <h5>Step 3</h5>
                 pane, and pause. If a job is paused, and you uncheck the pause checkbox,
                 then click the <button>Go</button> button, the job will begin running normally.
                 <p></p>
-                <details id="Robot.debugger_doc_id" class="doc_details"><summary>debugger</summary>
-                    The instruction of <code>Robot.debugger()</code> in a do_list will cause
+                <details id="Control.debugger_doc_id" class="doc_details"><summary>debugger</summary>
+                    The instruction of <code>Control.debugger()</code> in a do_list will cause
                     the <b>pause</b> checkbox to be checked and the job to pause.
-                    A function that returns the result of <code>Robot.debugger()</code> or
-                    even an array that has an element of the result of <code>Robot.debugger()</code>
+                    A function that returns the result of <code>Control.debugger()</code> or
+                    even an array that has an element of the result of <code>Control.debugger()</code>
                     will cause a pause.
                     <p></p>
-                    You can insert this instruction using the Learn JS menu/Debugging etc/Robot.debugger().
+                    You can insert this instruction using the Learn JS menu/Debugging etc/Control.debugger().
                     <p></p>
-                    Note that using <code>Robot.debugger()</code>
+                    Note that using <code>Control.debugger()</code>
                     is intentionally similar to using the JavaScript constant <code title="not in TestSuite">debugger</code>.
                     If you have the constant <code title="not in TestSuite">debugger</code>
                     in the body of a function that is a do_list item, or is called by
@@ -1073,7 +1071,7 @@ <h5>Step 3</h5>
         can run on all robots. These are <i>control</i> instructions because they help
         manage the flow of instructions in a job. Examples include: <code>Robot.stop</code>
         to end a job immediately without processing the insructions after the stop instruction,
-        and <code>Robot.wait_until</code> which pauses execution of the job's instructions until
+        and <code>Control.wait_until</code> which pauses execution of the job's instructions until
         the calling of the given JS function returns true.
     <p></p>
     See <button>Series&#9660;</button> submenu "robot" for details about robots as
@@ -1413,10 +1411,10 @@ <h4 id="print_statements_doc_id">Print Statements</h4>
     so that you can distinquish some outputs from others in a complex debugging session.
     See <a href="#" onclick="open_doc(out_doc_id, event)">out</a>.</li>
 
-    <li><b>Robot.out</b> <code>Robot.out("some data")</code> creates an
+    <li><b>IO.out</b> <code>IO.out("some data")</code> creates an
     instruction in a Job's do_list to print content to the output console
     with similar functionality to <code>out</code>
-    See <a href="#" onclick="open_doc('Robot.out_doc_id', event)">Robot.out</a>.</li>
+    See <a href="#" onclick="open_doc('IO.out_doc_id', event)">IO.out</a>.</li>
 
     <li><b>show_instructions</b> <code title="unEVALable">new Job({show_instructions=some_fn})</code>
     lets you call an arbitrary function (with clever defaults) before each
diff --git a/doc/mental_model_of_memory.html b/doc/mental_model_of_memory.html
index b941695e..293c572d 100644
--- a/doc/mental_model_of_memory.html
+++ b/doc/mental_model_of_memory.html
@@ -36,7 +36,7 @@ <h2>A Mental Model of Memory</h2>
 Jobs can even modify each other, not
 just accidentally, but on purpose. A "manager" Job can tell a
 "worker" job what to do by adding an instruction to its do_list via
-the instruction <code>Robot.send_to_job</code>.
+the instruction <code>Control.send_to_job</code>.
 <p></p>
 <b>Dangerous and Productive</b><br/>
 Isn't this dangerous? Yep, just like a phone that can call any number,
diff --git a/doc/processor_board_jumpers.png b/doc/processor_board_jumpers.png
deleted file mode 100644
index 27849e28fce41fd8bea96e2bb129b79278e2fcf5..0000000000000000000000000000000000000000
GIT binary patch
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aKL1}Sys8O;@@%{S0000<MNUMnLSTXry%mrE

diff --git a/doc/ref_man.html b/doc/ref_man.html
index 8164e457..5c9c96d0 100644
--- a/doc/ref_man.html
+++ b/doc/ref_man.html
@@ -647,7 +647,7 @@
      is useful for learning and when you don't need to
      extend a Job's do_list.
      <p></p>
-     If the function arg to <code>Robot.wait_until</code> returns false when it is called
+     If the function arg to <code>Control.wait_until</code> returns false when it is called
      by the job running process, the Job continues
      waiting. Hit the ESC key on the keyboard to end the wait_until.
      Because <code title="not in TestSuite">Gamepad.down_keys()</code>
@@ -657,8 +657,8 @@
      <!-- not in TestSuite because it runs jobs and this job waits for user interaction -->
     <pre><code title="not in TestSuite">new Job({
   name: "gamepad_job1",
-  do_list: [Robot.out("Press RIGHT arrow or ESC to exit."),
-            Robot.wait_until(function(){
+  do_list: [IO.out("Press RIGHT arrow or ESC to exit."),
+            Control.wait_until(function(){
               let dks = Gamepad.down_keys() //returns array of down key objects
               if (dks.length == 0){ return false }  //keep waiting
               else if (dks[0].keyname == "ESCAPE"){ //end the "wait_until"
@@ -674,7 +674,7 @@
                 return false //keep waiting
               }
             }),
-            Robot.out("done")
+            IO.out("done")
            ]})</code></pre>
 
     </details>
@@ -956,13 +956,7 @@
     "https://www.google.com/images/branding/googlelogo/2x/googlelogo_color_272x92dp.png"})</code></pre>
   Another picture displayed in "mycan".
   <p></p>
-  <i id="Robot.show_picture_doc_id">Robot Instruction</i><br/>
-  There is a robot instruction with the same arguments and functionality as the above
-  method that you can stick directly on the do_list of a job.<br/>
-  <i>Example:</i>
-  <pre><code>new Job({name: "my_job",
-         do_list: [Robot.show_picture()]})
-      </code></pre>
+  There is a corresponding instruction, <a href="#" onclick="open_doc('IO.show_picture_doc_id')">IO.show_picture</a>
 </details>
 
 <details id="Picture.show_video_cameras_doc_id"class="doc_details">
@@ -1015,7 +1009,7 @@
         </code></pre>
 </details>
 
-<details  id="show_video_doc_id" class="doc_details"><summary>show_video</summary>
+<details  id="Picture.show_video_doc_id" class="doc_details"><summary>show_video</summary>
 In order to take a picture for machine vision, you need to set up a video
 stream and take a snapshot of it. This is quite difficult using web-based
 sofware so we've made a wrapper for it.<br/>
@@ -1074,13 +1068,7 @@
   "https://youtu.be/JAiHGA_I-P4"})
     </code></pre>
 
-<i id="Robot.show_video_doc_id">Robot Instruction</i><br/>
-There is a robot instruction with the same arguments and functionality as the above
-method that you can stick directly on the do_list of a job.<br/>
-<i>Example:</i>
-<pre><code>new Job({name: "my_job",
-     do_list: [Robot.show_video()]})
-      </code></pre>
+There is a corresponding instruction <a href="#" onclick="open_doc('IO.show_video_doc_id')">IO.show_video</a>
 </details>
 
 <details id="Picture.take_picture_doc_id" class="doc_details"><summary>take_picture</summary>
@@ -1100,23 +1088,8 @@
 <pre><code title="not in testsuite"> Picture.take_picture() </code></pre>
 <pre><code title="not in testsuite"> Picture.take_picture({callback: inspect}) </code></pre>
 
-<i id="Robot.take_picture_doc_id">Robot Instruction</i><br/>
-There is a robot instruction with the same arguments and functionality as the above
-method that you can stick directly on the do_list of a job.
-<p></p>
-The callback is called with <code>this</code> bound to the job
-this instruction is running in.<br/>
-If the callback is a string, it is considered to be the name of
-a user_data variable that you want to set to the mat created
-with take_picture. You can then use this mat in further instructions.
-<br/>
-<i>Example:</i>
-<pre><code>new Job({name: "my_job",
- do_list: [Robot.take_picture({
-             callback: "my_pic"})]})
-  </code></pre>
-  <code>Job.my_job.user_data.my_pic</code><br/>
-  returns the mat.
+
+There is a corresponding instruction <a href="#" onclick="open_doc('IO.take_picture_doc_id')">IO.take_picture</a>
 </details>
 </details> <!-- Camera I/O -->
 <details class="doc_details"><summary>Low Level</summary>
@@ -2043,14 +2016,17 @@
 <p></p>
 <b id="Midi.init_doc_id">Midi.init</b> initializes Midi.
 This is automatically done when you attempt to play a note
-and Midi has not been inited, but there will be a slight delay in that case.
+and Midi has not been inited, but there will be a slight delay in that case.<br/>
+<i>Example:</i><br/>
+<code title="not in TestSuite">Midi.init()</code><br/>
+
 If Midi has previously been inited, this calls <code>Midi.all_notes_off</code>.
-This can also be called by choosing Insert menu/Sound/Midi.init().
+This can also be called by choosing Insert menu/Sound/Midi.init().<br/>
 <i>Parameters:</i> None.
 <p></p>
 <b id="Midi.all_notes_off_doc_id">Midi.all_notes_off</b> Turns off
 all curently on notes on all channels. Does not work when using
-GarageBand for a synthesizer.
+GarageBand for a synthesizer.<br/>
 <i>Parameters:</i> None.
 <p></p>
 <b id="Midi.describe_midi_event_doc_id">Midi.describe_midi_event</b>
@@ -2945,9 +2921,14 @@
 
 <details class="doc_details"><summary>Web</summary>
     <details id="get_page_doc_id" class="doc_details"><summary>get_page</summary>
-        <code>get_page</code> retrieves the contents of a web page.
-        You pass in a url and get_page returns the contents as a string.
-        The argument can either be a string of a url, or a literal JS object.<br/>
+        <code>get_page</code> retrieves the contents of a web page.<br/>
+        <i>Parameter:</i><br/>
+        <b>url_or_options</b> The url whose contents this instruction gets.<br/>
+        Instead of a url as the argument, you can pass a literal JS object with lots of options, described at:
+        <a target="_blank" href="https://www.npmjs.com/package/request">options</a>
+        These include the HTTP methods of: GET (the default), POST, PUT, PATCH, DELETE, HEAD, OPTIONS,
+        plus a zillion other options for authentication, etc.
+        <p></p>
         <i>Example:</i><br/>
          <code title="not in TestSuite"> get_page("http://ibm.com")</code><br/>
         If there is an error, the returned string will start with "Error:"
@@ -2969,8 +2950,17 @@
         a callback is called and passed an error object, a response object, and the body string
         of the page.
         <p></p>
-        It will not eval scripts on the page
-        so you may see an error when retriving a page containing JavaScript.
+        <i>Parameters:</i><br/>
+        <b>url_or_options</b> The url whose contents this instruction gets.<br/>
+        Instead of a url as the argument, you can pass a literal JS object with lots of options, described at:
+        <a target="_blank" href="https://www.npmjs.com/package/request">options</a>
+        These include the HTTP methods of: GET (the default), POST, PUT, PATCH, DELETE, HEAD, OPTIONS,
+        plus a zillion other options for authentication, etc.<br/>
+        <b>callback</b> When the content of the web page is retrieved,
+        this callback is called, passing an error (or not), the response object,
+        and the string of the content of the page.
+        JavaScript on the page will not be evaled, but if the page is not found,
+        there will be an error.
         <p></p>
         Example: <pre><code title="not in TestSuite"> get_page_async("http://ibm.com",
   function(err, response, body){
@@ -3034,7 +3024,7 @@
 <pre><code>new Job({name: "my_job",
          robot: Robot.dexter0,
          do_list: [ Dexter.move_to([0, 0.5, 0.075]),
-                    Robot.wait_until(2)
+                    Control.wait_until(2)
                     //...
                    ]
         })</code></pre>
@@ -3047,7 +3037,7 @@
 <ul><li>Clicking on a running Job's button, i.e. <button>my_job</button> in the Output pane</li>
     <li>Calling <code title="not in TestSuite">Job.my_job.stop_for_reason("interrupted", "why you want it stopped")</code></li>
     <li>In a running Job, executing the instruction:
-         <a href="#" onclick='open_doc("Robot.stop_job_doc_id")'><code>Robot.stop_job()</code></a></li>
+         <a href="#" onclick='open_doc("Control.stop_job_doc_id")'><code>Control.stop_job()</code></a></li>
  </ul>
  You can stop all jobs by:
  <ul>
@@ -3058,17 +3048,175 @@
 Stopped jobs may be restarted by calling <code title="not in TestSuite"> Job.my_job.start()</code> again.
 This reinitializes the job with the original arguments passed to <code title="unEVALable code fragment"> new Job</code>
 and runs the do_list instructions again.
+
 <p></p>
 Webinar videos for Job:<br/>
 <a target="_blank" href="http://hdrobotic.com/webinar#making_jobs"   target="_blank">Making Jobs</a><br/>
 <a target="_blank" href="http://hdrobotic.com/webinar#advanced_jobs" target="_blank">Advanced Jobs</a><br/>
 
+<details class="doc_details"><summary>Definition Time vs Run Time</summary>
+    To fully understand how a job operates, you must understand the difference
+    between <i>Job Definition Time</i> and <i>Job Run Time</i>.
+    <p></p>
+    <b>Job Definition Time</b></br/>
+    When you select and evaluate the source code of a job, you are
+    <i>defining</i> the Job. This simply uses JavaScript's <code>eval</code>
+    function to evaluate the source code, just like evaling any source code.
+    The result of evaling<br/>
+    <code title="unEVALable">new Job({name: "my_job" ...})</code><br/>
+    is an instance of the
+    class Job. Once done, you can access the Job instance via
+    <code title="unEVALable">Job.my_job</code><br/>
+    Many properties of the job are accessible via, for example,
+    <code>Job.my_job.name</code> , which returns the string of the Job's name.<br/>
+    Of particular import is the do_list. In the case of:
+    <pre><code>var ang1 = 90
+new Job({name: "my_job",
+         do_list: [Dexter.move_all_joints(ang1)]
+         })</code></pre>
+    , evaluation sets the global variable <code>ang1</code> to 90.<br/>
+    Then it sets Job.my_job to the new Job instance.
+    Within this instance, the property Job.my_job.do_list will
+    be effectively set to an array of instructions.
+    We say "effectively" because the actual do_list isn't bound
+    until the job is started. It is cached away so that it
+    can be copied afresh for each starting of the job.
+    But in any case, the do_list will now be an array containing
+    just one instance of the move_all_joints instruction.
+    This instance will have its joint1 angle set to 90 because <code>ang1</code>
+    is evaled when the Job definition is evaluated, and <code>ang1</code> evals
+    to 90. If you simply eval <code>Dexter.move_all_joints(90)</code>,
+    you can inspect the returned object and see that it has an
+    <i>array_of_angles</i> property storing where the Dexter's angles will
+    be commanded to go when the Job is actually run.
+    <p></p>
+    <b>Job Run time</b></br/>
+    Now let's walk through <i>Job Run Time</i>. You run a Job
+    by clicking its <button>job name</button> button or by calling
+    <code title="unEVALable">Job.my_job.start()</code><br/>
+    One way to think of starting a job is that it is a <i>second</i> evaluation
+    of the Job. Only this time, it is not using JavaScript's eval, it is using
+    Job's special evaluator. Instead of taking an input of JavaScript source code,
+    its taking input of the items on the do_list (created via JS eval when defining the Job)
+    which can be of many different types.
+    Each instruction is "evaluated" by the Job differently, depending on its type.
+    (similar to JavaScript's eval!)
+    In the case of an instance of the move_all_joints instruction,
+    that instance is transformed to a lower level instruction
+    that is very similar to what you get when evaluating
+    <code>make_ins("a", 90)</code>, then the 90 is convertered from
+    degrees into arcseconds, and sent to the Job's default robot, which better be a Dexter.
+    <p></p>
+    <b>Re-Running a Job</b></br/>
+    After a job has finished, you can rerun it by clicking its
+    <button>job name</button> button or calling its start method again.
+    This does not redefine the job.
+    So for instance, if between two runnings of a Job, we set our
+    global variable of <code title="unEVALable">ang1</code> to 45,
+    that will have no effect on
+    the 2nd running of our job, because we are not re-evaluating
+    <code title="unEVALable">ang1</code> or even
+    <code title="unEVALable">Dexter.move_all_joints(ang1)</code>.
+    Nor are we re-defining my_job.
+    That Joint1 inside the instance of move_all_joints is still 90,
+    so our 2nd running of my_job should behave the same, even
+    if we modify the value of <code title="unEVALable">ang1</code>.
+    Actually if you do re_run my_job, it won't be exactly the same
+    because the Dexter robot will now be at a pose with Joint 1 equal to 90,
+    so in our 2nd running, the robot won't move. But besides this initial
+    "set up move", following moves would be the same between the two runnings.
+    <p></p>
+    <b>Functions on the do_list</b></br/>
+    The most flexible of instruction types is a JavaScript function.
+    This allows you to execute arbritary JavaScript at Job Run Time.
+    You might need to do this because you want to use the current environment
+    to help determine what instruction to run next. That current environment
+    may not be knowable at Job Definition Time. Perhaps you want to
+    verify that Dexter really is where you told it to go, or
+    you want to check on the status of some other Job before
+    proceeding with this one.
+    <p></p>
+    To run arbitrary JS code during the running of a Job, wrap that code
+    in a function definition like so:
+    <pre><code>new Job({name: "my_job",
+        do_list: [function(){return Dexter.move_all_joints(ang1)}]
+        })</code></pre>
+    We could also do:
+    <pre><code>function move_it_buddy(){return Dexter.move_all_joints(ang1)}
+new Job({name: "my_job",
+         do_list: [move_it_buddy]
+        })</code></pre>
+    particulary helpful for long functions or functions we want to
+    call multiple times.
+    <p></p>
+    We are not doing:
+    <code title="unEVALable">do_list: [move_it_buddy()]</code> because
+    we don't want to CALL <code title="unEVALable">move_it_buddy</code>, as that would put its result on
+    the do_list at define time. We just want to eval the global variable
+    <code title="unEVALable">move_it_buddy</code> to put its value, a function definition, onto the do_list
+    at define time.
+    <p></p>
+    When a JavaScript function is called,
+    including when a running Job calls a function definition on its do_list,
+    it sets local variables of the function's parameters to the values passed in,
+    and evaluates the code in the body of the function.
+    <p></p>
+    In the cases above, <code title="unEVALable">ang1</code> <i>will</i> be evaled at Job Run Time,
+    as will the code that creates the instance of move_all_joints.
+    Anything returned by a function definition on the do_list will be
+    dynamically added to the do_list right below the function definition.
+    Our do_list started out with just one item, but after running
+    that one item, our do_list is extended by an instance of move_all_joints.
+    That instance of move_all_joints is inserted into the do_list immediately after
+    the function that generated it, making it run immediately after the function.
+    So now, if we change the value of ang1 between two runnings of my_job,
+    we won't have to redefine the whole job in order to get the effect
+    of changing the value of ang1.
+    <p></p>
+    A function definition on a do_list doesn't
+    have to return anything. It may just have side effects like calling <code>out</code>
+    for a print statement. But if it returns something that is not a valid instruction,
+    the Job will error.
+    <p></p>
+    <b>Job Instance Access</b><br/>
+    If you want to access the running Job Instance at run time, use a
+    function definition on the do_list, and reference <code>this</code> in
+    the body of that function definition.<br/>
+    <i>Example:</i><br/>
+    <pre><code>new Job({name: "my_job",
+         do_list:[function(){ this.user_data.foo = 2},
+                 function(){ out("foo: " + this.user_data.foo +
+                                 ", robot: " + this.robot.name) }
+                 ]})
+    </code></pre>
+    Note that using <code title="unEVALable">user_data</code> is a convenient way to pass values from one
+    instruction to another, without cluttering the global variable space.<br/>
+    <b>Flexibility and Complexity</b><br/>
+    Jobs have a great deal of flexibility. We can use the full power of
+    a general purpose programming language plus DDE's libraries
+    to define them. During their
+    running, Jobs can also use the the full power of
+    a general purpose programming language plus DDE's libraries, or any
+    that you import or create.
+    <p></p>
+    Though powerful, this flexibility comes
+    at the cost of complexity. Using JavaScript's function defining
+    capability, you can hide (but not eliminate) many details.
+    Also, DDE attempts to make writing JavaScript and Jobs as simple as
+    possible, but it is still not simple, especially if you want
+    to understand what's going on beneath the surface. The goal of Dexter
+    is to enable you to make as many things as possible. This is why DDE needs to be so flexible.
+    <p></p>
+    For a more complete understanding of JavaScript eval, see the DDE article:
+    <a href="#" onclick="open_doc('how_to_think_like_a_computer_doc_id')">How to Think like a Computer</a>
+</details>
+
 <details id="new_job_parameters_doc_id" class="doc_details"><summary>new Job parameters</summary>
 The parameters used to define a new Job all have defaults.<br/>
 <code> new Job() </code><br/>
 is a valid job to define and run, though it will give a warning message:<br/>
     <span style="color:#e50;">Warning: While starting job: job_1, the do_list is empty.<br/>
-    The job still requests the status of Dexter but does not cause it to move.</span><br/>
+    The job still requests the status of Dexter, but does not cause it to move.</span><br/>
     You can customize a job with the parameters:
     <ol><li id="job_param_name_doc_id"><b>name</b> Default's to an unused name of the format: <code>"job_1"</code>, <code>"job_2"</code>, <code>"job_3"</code>, etc.
          You can use <code title="unEVALable code fragment"> Job.a_job_name</code> to get the instance programmatically.</li>
@@ -3098,15 +3246,15 @@
              Normally a Job definition will look something like:
              <pre><code>
 new Job({name: "my_job",
-      do_list: [Robot.out("hi")]})
+      do_list: [IO.out("hi")]})
       </code></pre>
-            The call to <code>Robot.out</code> is evaled when the call to new Job is evaled.
-            <code title="unEvalable">Robot.out("hi")</code> evals to an instruction object.
-            (Go ahead and select the call to Robot.out and click
+            The call to <code>IO.out</code> is evaled when the call to new Job is evaled.
+            <code title="unEvalable">IO.out("hi")</code> evals to an instruction object.
+            (Go ahead and select the call to IO.out and click
             <button>Eval</button> .)
             It is that object which is put on the do_list.
-            If that call to Robot.out was inside a function and returned,
-            and that function was on the do_list, the result of the Robot.out
+            If that call to IO.out was inside a function and returned,
+            and that function was on the do_list, the result of the IO.out
             would be put on the do_list.
             If instead we had put on our do_list:
 <pre><code title="unEVALable">
@@ -3214,7 +3362,7 @@
          the initial instructions when running the job.
          This is most commonly a non-negative integer but
          you can use any instruction_location here.
-        See <a href="#" onclick="open_doc('Robot.go_to_doc_id', event)">Robot.go_to</a>
+        See <a href="#" onclick="open_doc('Control.go_to_doc_id', event)">Control.go_to</a>
         for documentation on all the different kinds of instruction_locations.
         </li>
         <li id="job_param_ending_program_counter_doc_id"><b>ending_program_counter</b> Default: <code>"end"</code> Declare at the outset of a job that it
@@ -3222,7 +3370,7 @@
             valid instruction_location that does not include a job. It is evaluated
             at the start of each instruction, so if labels move as a result of
             dynamically added instructions, that's OK.
-            See <a href="#" onclick="open_doc('Robot.go_to_doc_id', event)">Robot.go_to</a>
+            See <a href="#" onclick="open_doc('Control.go_to_doc_id', event)">Control.go_to</a>
             for documentation on all the different kinds of instruction_locations.
             <p></p>
             Use program_counter and ending_program_counter to "play" just a segment
@@ -3254,21 +3402,32 @@
              <code title="unEVALable code fragment"> A function</code> When the job reaches its normal stopping point,
              the function is called with a 'this' of the job instance and no arguments.
              This is effectively a callback when the job is done.<br/>
-             <code title="unEVALable code fragment"> An instruction location</code> This is similar to Robot.go_to
+             <code title="unEVALable code fragment"> An instruction location</code> This is similar to Control.go_to
              except that the job is re-initialized with its original (as defined) do_list.
              Any valid instruction location can be used
-             (see doc in <a href="#" onclick="open_doc('Robot.go_to_doc_id', event)">Robot.go_to</a>) except
+             (see doc in <a href="#" onclick="open_doc('Control.go_to_doc_id', event)">Control.go_to</a>) except
              that it must have no job or indicate the current job. Using <code>0</code>
              set's the job's program_counter to instruction 0, causing the job to loop.
              Using an instruction location 'offset' of greater than 0, such as a label,
              will cause the initial running of the job to execute its top instructions,
              but then subsequent iterations will start somewhere in the middle.<br/>
-             A Robot.stop_job instruction can be used to end a loop.
+             A Control.stop_job instruction can be used to end a loop.
              <p></p>
              See the menu item: Jobs/Insert Example/when_stopped
         </li>
         <li id="job_param_callback_param_doc_id"><b>callback_param</b> An advanced feature of <a href="#" onclick="open_doc(start_object_doc_id)">start_object</a>, not normally used.
     </ol>
+    All of these parameters are accessible as properties from the job instance that they help create.<br/>
+    <i>Example:</i><br/>
+    <code title="unEVALable">Job.my_job.robot</code> gets the default robot for the job.<br/>
+    To access these properties from an instruction in a running job, use a function definition
+    on the do_list. When a running job encounters a function definition on its do_list,
+    it calls that function with no arguments, but with a <code>this</code> of
+    the job instance. From that you can get the Job's properties like so:<br/>
+    <pre><code>new Job ({name: "my_job",
+          do_list: [function(){out(this.robot.name)}]})</code></pre>
+    where <code>this</code> refers to <code title="unEVALable">Job.my_job</code>.
+    When run, my_job prints its default robot's name to the Output pane.
 </details> <!-- end new Job parameters -->
 
 <details id="start_doc_id" class="doc_details"><summary>start</summary>
@@ -3285,7 +3444,7 @@
    <ul>
     <li><b>program_counter</b> Initialize the program_counter to an instruction id.
         The default is 0. You can use any instruction_location here.
-        See <a href="#" onclick="open_doc('Robot.go_to_doc_id', event)">Robot.go_to</a>
+        See <a href="#" onclick="open_doc('Control.go_to_doc_id', event)">Control.go_to</a>
         for documentation on all the different kinds of instruction_locations.
     </li>
     <li><b>initial_instruction</b> Add an initial instruction to the do_list at
@@ -3308,15 +3467,15 @@
 <b>instruction</b> The instruction to insert. This can be an array of instructions
 if you effectively want to insert more than one.<br/>
 <b>location</b> Any instruction_location documented under
-              <a href="#" onclick="open_doc('Robot.go_to_literal_doc_id', event)">Robot.go_to literal</a> can be used
+              <a href="#" onclick="open_doc('Control.go_to_literal_doc_id', event)">Control.go_to literal</a> can be used
 including integers, names of labels, etc. <br/>
-<i>Example</i>: <pre><code title="unEVALable code fragment"> Job.insert_instruction(Robot.out("the end"),
+<i>Example</i>: <pre><code title="unEVALable code fragment"> Job.insert_instruction(IO.out("the end"),
                        {job: "my_job",
                         offset: "end"})</code></pre><br/>
 Adds an instruction that prints "the end" at the end of <code title="unEVALable code fragment"> Job.my_job.do_list</code>.<br/>
-The instruction <code>Robot.send_to_job</code> performs the core of this functionality
+The instruction <code>Control.send_to_job</code> performs the core of this functionality
 in an instruction format.<br/>
-See <code>Robot.wait_until</code> documentation for its "new_instruction" argument
+See <code>Control.wait_until</code> documentation for its "new_instruction" argument
 on how to continually add and execute a new instruction in a running job.
 </details>
 
@@ -3328,6 +3487,15 @@
   A robot is a machine that can execute the instructions in its instruction set. In general,
   each kind of robot will have its own instruction set. The primary
   difference between robots is the difference in their instruction sets.
+  <p></p>
+  All Jobs have a default <i>robot</i> property. You can access the robot property
+  from a running job like so:<br/>
+  <pre><code>new Job ({name: "my_job",
+          do_list: [function(){ this.robot }]})</code></pre>
+    where <code>this</code> refers to <code title="unEVALable">Job.my_job</code>.<br/>
+    You might use this to print out the current robot's name, by replacing<br/>
+    <code title="unEVALable">this.robot</code> with:<br/>
+    <code title="unEVALable">out(this.robot.name)</code>
   
 <details id="robot_instructions_doc_id" class="doc_details" ><summary>Robot Instructions</summary>
 These instructions can be used for any robot, as can the instructions for
@@ -3342,7 +3510,7 @@
         Arrays may be nested to any depth.<br/>
         <i>Example:</i><br/>
         <pre><code>new Job({name: "Job1",
-         do_list: [[Dexter.move_all_joints([10, 20, 0, 0, 0]), Robot.out("did it")],
+         do_list: [[Dexter.move_all_joints([10, 20, 0, 0, 0]), IO.out("did it")],
                     function(){
                         let result = []
                         for(let ang = 0; ang <= 90; ang += 15){
@@ -3427,14 +3595,14 @@
 }
 </code></pre>
 The above example could better be implemented using
-<code>Robot.wait_until</code>, but there are
+<code>Control.wait_until</code>, but there are
 cases where the increased flexibility of the above is convenient.
 <p></p>
 You can put both named and anonymous functions on a do_list.
 A named instruction allows you to add a bit of "documentation" to
 the function. You can also use the name of a function like a
 label and "go to"
-that name using a <a href="#" onclick="open_doc('Robot.go_to_doc_id', event)">Robot.go_to</a> instruction,
+that name using a <a href="#" onclick="open_doc('Control.go_to_doc_id', event)">Control.go_to</a> instruction,
 or use the function's name in
 any uses of an instruction_location.
 <p></p>
@@ -3449,9 +3617,9 @@
 If you have some JavaScript code that you want to go between 2
 other instructions on a Job's do_list, your first inclination
 might be to just stick it on the do_list like so
-<pre><code title="unEVALable code fragment"> do_list: [Robot.out("hi"),
+<pre><code title="unEVALable code fragment"> do_list: [IO.out("hi"),
           my_fn(12, 34),
-          Robot.out("bye")
+          IO.out("bye")
           ]
 </code></pre>
 What happens here is that when the <i>definition</i> of the job is evaled,
@@ -3463,7 +3631,7 @@
 then you're all set.
 <br/>
 <b>BUT</b> if what you want is for the eval of <code title="unEVALable code fragment"> my_fn(12, 34)</code>
-to occur after the instruction returned by <code>Robot.out("hi")</code> is run,
+to occur after the instruction returned by <code>IO.out("hi")</code> is run,
 then you'll want to wrap your code in a function, and put the definition
 of that wrapper function on the do_list like so:<br/>
 <code>function(){ my_fn(12, 34) }</code><br/>
@@ -3519,9 +3687,9 @@
 function* my_gen(){
   while(true){
     if(Math.random() > 0.2) {
-        yield Robot.out("my_gen still alive")
+        yield IO.out("my_gen still alive")
     }
-    else { return Robot.out("gotta go") }
+    else { return IO.out("gotta go") }
   }
 }
 new Job({name: "my_job",
@@ -3531,7 +3699,7 @@
 for code examples. Related Job facilities are:
 <ul><li>
  using instruction
-<code>Robot.wait_until("new_instruction")</code></li>
+<code>Control.wait_until("new_instruction")</code></li>
 <li>Job parameter: <code title="unEVALable code fragment"> when_stopped</code></li>
 </ul>
 </details>
@@ -3557,7 +3725,7 @@
 when "instructions" on the do_list are started.
 DDE has a number of instruction types that help you control
 when the next instruction is run. A primary one is called
-<a href="#" onclick="open_doc('Robot.wait_until_doc_id', event)">wait_until</a>
+<a href="#" onclick="open_doc('Control.wait_until_doc_id', event)">wait_until</a>
 that blocks the processing of the following instruction.
 <p></p>
 In order to provide a more general mechanism to handle such methods
@@ -3627,7 +3795,7 @@
 <pre><code>new Job({name: "Job1",
       do_list: [{start: function(){out("wait a sec or 3")},
                  dur: 3},
-                 Robot.out("done")]})
+                 IO.out("done")]})
       </code></pre></li>
 <li><b>user_data_variable</b> Default: <code>null</code> If present and non-null,
  the automatically synthesized callback
@@ -3640,7 +3808,7 @@
 </ul>
 <i>Examples:</i>
 <pre><code title="unstartable in TestSuite">new Job({name: "my_job1",
-         do_list: [Robot.out("hey from my_job1")]})
+         do_list: [IO.out("hey from my_job1")]})
 new Job({name: "my_job2",
          robot: new Brain({name: "brain2"}),
          do_list: [Job.my_job1]})
@@ -3673,7 +3841,7 @@
 new Job({name: "my_job",
          do_list: [{start: function(){out("wait a sec or 3")},
                     dur: 3},
-                   Robot.out("done waiting")]})
+                   IO.out("done waiting")]})
     </code></pre>
     Above when the job starts, the first instruction's start method is
     called, which prints in the Output pane, "wait a sec or 3".
@@ -3683,7 +3851,7 @@
     and prints out "done waiting".
 
 <pre><code>new Job({name: "my_job",
-    do_list: [Robot.out("hey"),
+    do_list: [IO.out("hey"),
     {start: speak,
      start_args: {speak_data: "Clean my work space.", rate:0.8},
      callback_param: "callback",
@@ -3694,7 +3862,7 @@
      callback_param: "callback",
      user_data_variable: "the_text2"
     },
-    Robot.out("you")
+    IO.out("you")
     ]})
     </code></pre>
     The above job first prints out "hey", then speaks
@@ -3718,7 +3886,7 @@
     callback(b, a, 123)
     }
 new Job({name: "my_job",
-    do_list: [Robot.out("hey"),
+    do_list: [IO.out("hey"),
     {start: test_cb,
     start_args: [11, 22],
     callback_param: 2,
@@ -3758,65 +3926,45 @@
     they already were.
 </details>
 
-<details id="Robot.break_doc_id" class="doc_details"><summary>break</summary>
-    The Robot.break() instruction, when in the body of a
-    <a href="#" onclick="open_doc('Robot.loop_doc_id', event)">Robot.loop</a>,
+<details class="doc_details"><summary>Control</summary>
+    Control instructions can be used in any Job regardless of its default robot.
+<details id="Control.break_doc_id" class="doc_details"><summary>break</summary>
+    The Control.break() instruction, when in the body of a
+    <a href="#" onclick="open_doc('Control.loop_doc_id', event)">Control.loop</a>,
     instruction, ends the loop.
     <p></p>
     <i>Parameters:</i> None.<br/>
     <i>Example:</i> <pre><code>new Job({name: "my_job",
-     do_list: [Robot.out("start of job"),
-               Robot.loop(true,
+     do_list: [IO.out("start of job"),
+               Control.loop(true,
                           function(iter_index, iter_val, iter_total){
                               if(iter_index < 3) {
-                                 return Robot.out("index: "       + iter_index +
+                                 return IO.out("index: "       + iter_index +
                                                   " iter_val: "   + iter_val +
                                                   " iter_total: " + iter_total)}
-                              else { return Robot.break() } }),
-               Robot.out("end of job")
+                              else { return Control.break() } }),
+               IO.out("end of job")
                ]})    </code></pre>
-    If you have nested loops, Robot.break ends the inner loop only.
-    If Robot.break is not in a loop, a warning will be printed in the Output pane.
+    If you have nested loops, Control.break ends the inner loop only.
+    If Control.break is not in a loop, a warning will be printed in the Output pane.
     <p></p> Note that Javascript also uses the symbol <code title="unEVALable">break</code>
     to end a JavaScript <code title="unEVALable">for</code> loop.
 </details>
 
-<!-- the real doc for Robot.debugger is in the user guide -->
+<!-- the real doc for Control.debugger is in the user guide -->
 <details  class="doc_details"><summary>debugger</summary>
-    <code>Robot.debugger()</code> allows you to pause and step through the rest of the instructions.
-    See <a href="#" onclick="open_doc('Robot.debugger_doc_id')">Robot.debugger</a>
+    <code>Control.debugger()</code> allows you to pause and step through the rest of the instructions.
+    See <a href="#" onclick="open_doc('Control.debugger_doc_id')">Control.debugger</a>
 </details>
-<details id="Robot.error_doc_id" class="doc_details"><summary>error</summary>
+<details id="Control.error_doc_id" class="doc_details"><summary>error</summary>
   Causes the job to error, immediately stopping it.
   The one argument is a string of a reason for the error which
-  will aid in debugging. Example:<pre><code>Robot.error("fubar")</code></pre>
+  will aid in debugging. Example:<pre><code>Control.error("fubar")</code></pre>
 </details>
 
-<details id="Robot.get_page_doc_id" class="doc_details"><summary>get_page</summary>
-  Similar to the function <code>get_page</code>, only made into an instruction.
-  This instruction gets the content of a url and places it in a given user_data variable
-  on the job instance before allowing the next instruction in the do_list to run.<br/>
-  Example:<pre><code>new Job({name: "j1",
-         do_list: [Robot.get_page("http://www.nactem.ac.uk/software/acromine/dictionary.py?sf=BMI"),
-                   function(){out("got response of: " + 
-                                    this.user_data.http_response)}
-         ]}) </code></pre>
-  <i>Parameters:</i><br/>
-  <b>url_or_options</b>: The url whose contents this instruction gets.<br/>
-    Instead of a url as the argument, you can pass a literal JS object with lots of options, described at:
-    <a target="_blank" href="https://www.npmjs.com/package/request">options</a>
-    <p></p>
-  <b>response_variable_name</b>: Default: <code>"http_response"</code>. The name
-     of the property in the job instance's user_data object to set to the
-     content of the url.
-  <p></p>
-Using <code>make_url</code> can help make constructing calls to <code>get_page</code> a bit easier.
-Example:<pre><code title="not in TestSuite"> Robot.get_page(make_url("www.nactem.ac.uk/software/acromine/dictionary.py",
-                         {sf: "BMI"}))</code></pre>
-<code>make_url</code> is documented in the reference manual under "I/O".
-</details> <!-- end get_page -->
 
-<details id="Robot.go_to_doc_id" class="doc_details"><summary>go_to</summary>
+
+<details id="Control.go_to_doc_id" class="doc_details"><summary>go_to</summary>
 In the 1960's programs were usually characterized by a list of instructions.
 As more flexible control was needed, the "goto" instruction was added to
 cause the program_counter that was pointing at the executing instruction to jump to
@@ -3881,7 +4029,7 @@
 Generally <code>"highest_completed_instruction_or_zero"</code> is more useful than
     <code>"highest_completed_instruction"</code>.
 <br/>
-<b id="Robot.go_to_literal_doc_id">A literal object</b> The literal object can have up to three properites.
+<b id="Control.go_to_literal_doc_id">A literal object</b> The literal object can have up to three properites.
 <ul><li><b>offset</b> Can be any one of the above instruction_locations.<br/>
     <i>Example</i>: <code>{offset: 12}</code>
     </li>
@@ -3922,136 +4070,27 @@
 </ul>
 Instruction_locations are also used in
 initializing a Job's <code title="unEVALable code fragment"> program_counter</code> in defining the job, as well as
-in calling a job's start method. The <code>Robot.send_to_job</code> instruction
+in calling a job's start method. The <code>Control.send_to_job</code> instruction
 uses an instruction_location for identifying
 where within the job to insert the given instruction as does the method
 <code>Job.insert_instruction</code>.
 <p></p>
     Much of the time that you'd be tempted to use a backwards
-    Robot.go_to,
-    <a href="#" onclick="open_doc('Robot.loop_doc_id')">Robot.loop</a> is better.
+    Control.go_to,
+    <a href="#" onclick="open_doc('Control.loop_doc_id')">Control.loop</a> is better.
 </details>
 
-
-<details id="Robot.grab_robot_status_doc_id" class="doc_details"><summary>grab_robot_status</summary>
-   robot_status is an array that holds data from the robot, along with aspects of the instruction
-   that was sent to the robot to capture that data. This array is the value of the robot
-   instance field <code title="unEVALable code fragment"> robot_status</code>. <p></p>
-   The instruction: <code>Robot.grab_robot_status()</code> provides an easy way to get values out of that array
-   and made available for other instructions to use.<br/>
-   <i>Parameters</i><br/>
-   <b>user_data_variable</b> Default: <code>"grabbed_robot_status"</code> A string (required) of the name of the job's
-                          <code title="unEVALable code fragment"> user_data</code> variable to shove the grabbed
-                          robot_status data into. If there is already such a variable,
-                          its value is over-written. If not, it is created and intialized
-                          with the new value.
-                          <p></p>
-                          After this instruction is run, the grabbed value
-                          is available globally Job.the_job_name.user_data.the_val_of_this_arg.<br/>
-                          For instance, if this job is named "my_job" and the value of
-                          user_data_variable is "my_var" then:
-                          <code title="unEVALable code fragment"> Job.my_job.user_data.my_var</code>
-                          But inside another instruction that is defined as a function,
-                          <code>this</code> will be bound to the current job instance so:
-                          <code title="unEVALable code fragment"> this.user_data.my_var</code> will access the grabbed data.<br/>
-
-   <b>start_index</b> A non-negative integer signifying the
-                 first data item to extract from the robot_status array.
-                 Its default value is the value of <code>Serial.DATA0</code>
-                 Another normal value would be <code>Dexter.J1_ANGLE</code>
-                 See below for a comprehensive list.
-                 <br/>
-                 <i>Special values:</i><br/>
-                 <code>"all"</code> The entire 60 element robot_status
-                 array is used. The value of end_index is ignored.<br/>
-                 <code>"data_array"</code> The part of the robot_status array after 
-                  the header information is used. For Serial robots, this will be just
-                  the data returned by the serial port. For Dexter robots, this
-                  will be the data about Dexter's joint angles, etc. 
-                  The value of end_index is ignored.<br/>
-    <b>end_index</b> A non-negative integer signifying the last element of the
-                  robot_status array to extract. The default value is <code>null</code>.
-                  If this value is null or not passed, only the data at the start_index
-                  is used. The value stored in the user_data variable will NOT be an array,
-                  just that one element.<br/>
-                  <i>Special value</i> <code>"end"</code> The portion of the robot_status
-                  from start_index through the end of the robot_status array is extracted.
-                  <p></p>
-                  If both the start_index and end_index are not passed,
-                  then the value will be: For a Serial robot, the first "item"
-                  returned from the serial port in response to a send.
-                  For Dexter, it will be DMA_READ_DATA.
-                  <p></p>                     
-    You can use some constants for the values of start_index and end_index.<br/>
-    For a Dexter robot these are: <br/>
-    <code>Dexter.JOB_ID</code><br/>
-    <code>Dexter.INSTRUCTION_ID</code><br/>
-    <code>Dexter.START_TIME</code> //ms since jan 1, 1970 from Dexter's clock<br/>
-    <code>Dexter.STOP_TIME</code><br/>
-    <code>Dexter.INSTRUCTION_TYPE</code> //a letter signifying the instruction type.<br/>
-    <br/>
-    <code>Dexter.ERROR_CODE</code> //0 means no error.<br/>
-    <code>Dexter.DMA_READ_DATA</code><br/>
-    <code>Dexter.READ_BLOCK_COUNT</code><br/>
-    <code>Dexter.RECORD_BLOCK_SIZE</code><br/>
-    <code>Dexter.END_EFFECTOR_IN</code><br/>
-    <br/>
-    <code>Dexter.J1_ANGLE</code><br/>
-    <code>Dexter.J1_DELTA</code><br/>
-    <code>Dexter.J1_PID_DELTA</code><br/>
-    <code>Dexter.J1_FORCE_CALC_ANGLE</code><br/>
-    <code>Dexter.J1_A2D_SIN</code><br/>
-    <code>Dexter.J1_A2D_COS</code><br/>
-    <code>Dexter.J1_PLAYBACK</code><br/>
-    <code>Dexter.J1_SENT</code><br/>
-    <code>Dexter.J1_SLOPE</code><br/>
-and a similar set of names beginning with J2, J3, J4 and J5.
-<p></p>
-For a Serial robot these are:<br/>
-    <code>Serial.JOB_ID</code><br/>
-    <code>Serial.INSTRUCTION_ID</code><br/>
-    <code>Serial.START_TIME</code>          // ms since jan 1, 1970 from Dexter's clock<br/>
-    <code>Serial.STOP_TIME</code>          // ms since jan 1, 1970 from Dexter's clock<br/>
-    <code>Serial.INSTRUCTION_TYPE</code>   // A letter indicating the instruction type<br/>
-
-    <code>Serial.ERROR_CODE</code>          // means no error.<br/>
-    <code>Serial.DATA0</code>               // data coming back from the board<br/>
-    <code>Serial.DATA1</code><br/>
-    <code>Serial.DATA2</code><br/>
-    <code>Serial.DATA3</code><br/>
-    <code>Serial.DATA4</code><br/>
-    <code>Serial.DATA5</code><br/>
-    <code>Serial.DATA6</code><br/>
-    <code>Serial.DATA7</code><br/>
-    <code>Serial.DATA8</code><br/>
-    <code>Serial.DATA9</code><br/>
-<br/>
-
-In order to insure that the Dexter robot_status array is up to date,
-you should place <code>Dexter.get_robot_status()</code> in your do_list before
-the grab_robot_status instruction.<br/>
-<i>Examples of 2 adjacent instructions on a job's do_list:</i><br/>
-
-    <code>Dexter.get_robot_status()</code><br/>
-    <code>Robot.grab_robot_status("my_zero_data", Serial.DATA0) </code><br/>
-grab_robot_status can be called with a subject of a job instance in place
-of <code>Robot</code> like so:<br/>
-<code> Robot.dexter0.grab_robot_status("my_user_data_var")</code>
-<p></p>
-See Job Example: <i>Serial Port</i> for an extended example.
-</details> <!-- end grab_robot_status -->
-
-<details id="Robot.if_any_errors_doc_id" class="doc_details"><summary>if_any_errors</summary>
-    <code>Robot.if_any_errors</code> checks to see if any of the supplied jobs have errored.
+<details id="Control.if_any_errors_doc_id" class="doc_details"><summary>if_any_errors</summary>
+    <code>Control.if_any_errors</code> checks to see if any of the supplied jobs have errored.
     If so, it inserts the supplied instruction into the do_list on the job
-    that this instruction is on. In either case, <code>Robot.if_any_errors</code> continues
+    that this instruction is on. In either case, <code>Control.if_any_errors</code> continues
     the job that its on.
     <i>Parameters</i><br/>
     <b>job_names</b> An array of strings of job names. If a named job doesn't exist, error.<br/>
-    <b>instruction_if_error</b> Default: <code>Robot.error()</code> An instruction that will be inserted into the do_list
+    <b>instruction_if_error</b> Default: <code>Control.error()</code> An instruction that will be inserted into the do_list
     immediately after this instruction IF one of the named jobs has errored.
     The default for <code title="unEVALable code fragment"> instruction_if_error</code> is a function that
-    inserts an instance of Robot.error into the do_list of this job, causing it to error.
+    inserts an instance of Control.error into the do_list of this job, causing it to error.
     The "reason" for that error instruction is explicit about the cause of the error.
     <p></p>
     Generally a job should be stopped quickly if there is an error.
@@ -4060,13 +4099,13 @@
     current job for "this") so that some arbitrary compensation can be made for the error.
 </details>
 
-<details id="Robot.include_job_doc_id" class="doc_details"><summary>include_job</summary>
+<details id="Control.include_job_doc_id" class="doc_details"><summary>include_job</summary>
 Inserts a do_list or a portion thereof into the current Job, right after this instruction.<br/>
 The job_name parameter takes a wide variety of data to specify where to get a do_list from.
 Most of those data formats are not actual Job names, but
 they perform a similar role to a Job name in referencing a do_list to include.
 <p></p>
-Robot.include_job has a large number of very specific error messages to help you correct mistakes.<br/>
+Control.include_job has a large number of very specific error messages to help you correct mistakes.<br/>
 <i>Parameters:</i><br/>
 <b>job_name</b> Required. Indicates a do_list, which will be "clipped" by start_loc and end_loc.
     Formats:
@@ -4082,7 +4121,7 @@
             instead of Jobs or Arrays is that the string is resolved at instruction run-time
             whereas Job and Array are resolved at Job definition time. By delaying the
             resolution, you can place the definition that the string refers to
-            AFTER the Job definition containing the <code>Robot.include_job</code> instruction.
+            AFTER the Job definition containing the <code>Control.include_job</code> instruction.
             String formats:
             <ul><li><b>Job.a_job_name</b> <i>Example:</i> <code>"Job.my_job"</code><br/>
                      This is the prefered way to reference a Job.
@@ -4130,7 +4169,7 @@
                  If <i>job_name</i> refers to a Job, the default is the Job's orig_args.program_counter,
                  whose default is, in turn, <code>0</code>
                  When <i>job_name</i> refers to a job, <i>start_loc</i> can be any 'instruction_location'.<br/>
-                 See <a href="#" onclick="open_doc('Robot.go_to_doc_id', event)">Robot.go_to</a> for details
+                 See <a href="#" onclick="open_doc('Control.go_to_doc_id', event)">Control.go_to</a> for details
                  on the <code title="unEVALable code fragment">instruction_location</code> format.<br/>
 <b>end_loc</b>   Grab the instructions from the indicated do_list, up to, but not including, end_loc.
                  If <i>job_name</i> refers to an instructions array, the default for end_loc is
@@ -4140,28 +4179,28 @@
                  When <i>job_name</i> refers to a job, <i>end_loc</i> can be any 'instruction_location',
                  and its default is the ending_program_counter for the job, which is, by default, "end".
     <p></p>
-    See <a href="#" onclick="open_doc('Robot.go_to_doc_id', event)">Robot.go_to</a> for details
+    See <a href="#" onclick="open_doc('Control.go_to_doc_id', event)">Control.go_to</a> for details
     on the <code title="unEVALable code fragment"> instruction_location</code> format.
     <p></p>
 <i>Example:</i><br/>
-   <code>Robot.include_job("Job.my_job")</code><br/>
+   <code>Control.include_job("Job.my_job")</code><br/>
    Inserts all the original instructions that are normally run when running "my_job",
    into the current job, right below this instruction.
    <p></p>
-   <i>Robot.include_job</i> makes it easy to build up jobs hierarchically, effectively
+   <i>Control.include_job</i> makes it easy to build up jobs hierarchically, effectively
       treating a low level Job as a single instruction in a higher level Job.<br/>
-      See also: <a href="#" onclick="open_doc('Robot.start_job_doc_id')">Robot.start_job</a>
+      See also: <a href="#" onclick="open_doc('Control.start_job_doc_id')">Control.start_job</a>
 </details>
 
-<details id="Robot.label_doc_id" class="doc_details"><summary>label</summary>
+<details id="Control.label_doc_id" class="doc_details"><summary>label</summary>
 This instruction is a no-op. However, it provides a target location
-for <a href="#" onclick="open_doc('Robot.go_to_doc_id', event)">Robot.go_to</a>, initializing the program_counter of a job, and
-a location to insert an instruction using <code>Robot.send_to_job</code>.<br/>
-<i>Example</i>: <code>Robot.label("lab2")</code>
+for <a href="#" onclick="open_doc('Control.go_to_doc_id', event)">Control.go_to</a>, initializing the program_counter of a job, and
+a location to insert an instruction using <code>Control.send_to_job</code>.<br/>
+<i>Example</i>: <code>Control.label("lab2")</code>
 </details>
 
-<details id="Robot.loop_doc_id" class="doc_details"><summary>loop</summary>
-    <code>Robot.loop</code> lets a Job repeat a sequence of instructions a number of times.
+<details id="Control.loop_doc_id" class="doc_details"><summary>loop</summary>
+    <code>Control.loop</code> lets a Job repeat a sequence of instructions a number of times.
     This instruction is one of the most powerful and complex
     in DDE, providing a wide range of looping behavior.<br/>
     <i>Parameters</i> (2)<br/>
@@ -4169,14 +4208,14 @@
     i.e. the iteration count of the loop. It can be one of five types:
     <p></p>
     <i>boolean</i><br/> If <code>false</code>, loop no times. This loop becomes a no-op.<br/>
-    If <code>true</code>, loop forever, or until a <a href="#" onclick="open_doc('Robot.break_doc_id')">Robot.break</a> instruction in the body_fn
+    If <code>true</code>, loop forever, or until a <a href="#" onclick="open_doc('Control.break_doc_id')">Control.break</a> instruction in the body_fn
     is executed. Like all arguments, this is evaluated at Job definition time to
     supply a value of a boolean (true or false).
     <p></p>
     <i>non-negative integer</i><br/> Number of times to call the body_fn. If <code>0</code>,
     the loop becomes a no-op, just like when this arg is <code>false</code>.
     This can be <code>Infinity</code> such that looping would only
-    be limited by a <code>Robot.break</code> instruction in the body_fn or
+    be limited by a <code>Control.break</code> instruction in the body_fn or
     stopping the Job.
     <p></p>
     <i>array</i><br/> The length of the array is the number of times to loop.
@@ -4209,11 +4248,11 @@
     no looping occurs, this loop is a no-op. If <code>true</code> is returned,
     that "true" is used for the first iteration, and the function is called
     at the beginning of every subsequent iteration until <code>false</code>
-    is returned or the body_fn executes a <code>Robot.break</code> instruction.</li>
+    is returned or the body_fn executes a <code>Control.break</code> instruction.</li>
     </ul>
     You want to use a function here instead of directly using a boolean, non-neg-integer,
     or array, when you want those values to be computed at the time
-    the Robot.loop instruction is executed as opposed to Job definition time.
+    the Control.loop instruction is executed as opposed to Job definition time.
     <p></p>
     <b>body_fn</b> This function is called with basically the same args as
     are used to call times_to_loop when it is a function.<br/>
@@ -4248,69 +4287,32 @@
             a number <code>6</code> and generally appear before normal string-named keys.
             Its best if you don't depend on an ordering of the properties.</li>
     </ol>
-    Loop instructions may be nested. <code>Robot.break</code> instructions will
-    end the inner-most loop that contains the <code>Robot.break</code>.
+    Loop instructions may be nested. <code>Control.break</code> instructions will
+    end the inner-most loop that contains the <code>Control.break</code>.
     <p></p>
     Much of the time that you'd be tempted to use a backwards
-    <a href="#" onclick="open_doc('Robot.go_to_doc_id')">Robot.go_to</a>,
+    <a href="#" onclick="open_doc('Control.go_to_doc_id')">Control.go_to</a>,
     loops are better.
     <p></p>
     <i>Example</i>
     <pre><code>new Job({name: "my_job",
-    do_list: [Robot.out("start of job"),
-              Robot.loop([100, 101, 102, 103, 104],
+    do_list: [IO.out("start of job"),
+              Control.loop([100, 101, 102, 103, 104],
                          function(iter_index, iter_val, iter_total){
                              if(iter_index < 3) {
-                                return Robot.out("index: "       + iter_index +
+                                return IO.out("index: "       + iter_index +
                                                  " iter_val: "   + iter_val +
                                                  " iter_total: " + iter_total)}
-                             else { return Robot.break() }
+                             else { return Control.break() }
                          }
                         ),
-               Robot.out("end of job"),
+               IO.out("end of job"),
 ]})     </code></pre>
-   See Jobs menu/Insert Example/Robot.loop for more examples.
+   See Jobs menu/Insert Example/Control.loop for more examples.
 </details>
 
-<details id="Robot.out_doc_id" class="doc_details"><summary>out</summary>
-  Very similar to the function <code>out</code> but made for use as a robot instruction.
-  Prints a message to the Output pane in the color of your choice.
-  This is the "print statement" as an instruction, so useful in debugging.<p></p>
-  <i>Example:</i><br/>
-  <code>Robot.out("hey " + 345, "green")</code><p></p>
-  <i>Parameters:</i><br/>
-  <b>val</b> Any JavaScript data. Most commonly this is a string, but
-             can be a number, an array etc.<br/>
-  <b>color</b> A string representing a color. Default "black". Can
-             be any string in the <b>color</b> series, or have the format:<br/>
-             <code>"rgb(255, 100, 0)"</code>.<br/>
-  <b>temp</b> Default: <code>false</code>. With the default, printed output stays in the
-    Output pane until DDE is relaunched.
-    <p></p>
-    If temp is <code>true</code>,
-    then <b>val</b> is still printed in the Output pane, but is over-ridden
-    by subsequence calls to out with temp == true. Calls to out with temp == false
-    will erase any "temp" output.
-    <p></p>
-    If temp is a string, then out prints <b>val</b> similarly to temp == true in that
-    the previous call to out with that temp string will be over-ridden in place.
-    However, when another call to out with a different value for temp occurs,
-    the output of out with a temp string will <i>not</i> be erased.
-    Thus the last call to out with a given temp string remains in the Output pane,
-    in its place, regardless of other out calls.
-  <p></p>
-  This is the most basic debugging tool, often used to let you know that 
-  the job its in has reached this instruction. Unlike an instruction such as:<br/>
-  <code>function(){out("The status is: " + this.status_code)}</code><br/>
-  Robot.out cannot access its job instance, but it does print out
-  its job name and instruction ID right before printing <code title="unEVALable code fragment"> val</code>.
-  <p></p>
-  See also <a href="#" onclick="open_doc(print_statements_doc_id, event)">print statements</a>
-</details>
-
-
-<details id="Robot.start_job_doc_id" class="doc_details"><summary>start_job</summary>
- <code>Robot.start_job</code> starts another job.<br/>
+<details id="Control.start_job_doc_id" class="doc_details"><summary>start_job</summary>
+ <code>Control.start_job</code> starts another job.<br/>
  <i>Parameters:</i><br/>
  <b>job_name</b> Required. Can be:
  <ul><li>An instance of the Job to start.</li>
@@ -4366,23 +4368,23 @@
     <!-- the below works in isolation, but not with TestSuite auto-starting of jobs. -->
     <pre><code title="unstartable in TestSuite">
 new Job({name: "job1",
-         do_list: [Robot.out("in job 1"),
-                   Robot.wait_until(5)]})
+         do_list: [IO.out("in job 1"),
+                   Control.wait_until(5)]})
 new Job({name: "job2",
          robot: new Brain({name: "b1"}),
-          do_list: [Robot.start_job("Job.job1"),
-                    Robot.out("last instruction")
+          do_list: [Control.start_job("Job.job1"),
+                    IO.out("last instruction")
                     ]
 })    </code></pre>
     job2 starts job1 and waits for job1 to complete before continuing,
     because the last arg to start_job is <code>true</code>.
     <pre><code title="unstartable in TestSuite">
 new Job({name: "job1",
-         do_list: [Robot.out("in job 1"),
-                   Robot.wait_until(5)]})
+         do_list: [IO.out("in job 1"),
+                   Control.wait_until(5)]})
 new Job({name: "job2",
-          do_list: [Robot.start_job("job1", undefined, undefined, true),
-                    Robot.out("last instruction")]
+          do_list: [Control.start_job("job1", undefined, undefined, true),
+                    IO.out("last instruction")]
 })    </code></pre>
     job2 starts job1 and waits for job1 to complete before continuing,
     because the last arg to start_job is <code>true</code>.
@@ -4392,17 +4394,17 @@
     neither can rely on the Dexter being where they last told it to go.
     <pre><code title="unstartable in TestSuite">
 new Job({name: "job1",
-         do_list: [Robot.out("in job 1"),
-                   Robot.wait_until(5)]})
+         do_list: [IO.out("in job 1"),
+                   Control.wait_until(5)]})
 new Job({name: "job2",
          robot: new Brain({name: "b1"}),
-          do_list: [Robot.start_job("job1", {start_if_robot_busy: true}, undefined, true),
-                    Robot.out("last instruction")]
+          do_list: [Control.start_job("job1", {start_if_robot_busy: true}, undefined, true),
+                    IO.out("last instruction")]
 })    </code></pre>
-    See also <a href="#" onclick="open_doc('Robot.include_job_doc_id')">Robot.include_job</a>
+    See also <a href="#" onclick="open_doc('Control.include_job_doc_id')">Control.include_job</a>
 </details>
 
-<details id="Robot.stop_job_doc_id" class="doc_details"><summary>stop_job</summary>
+<details id="Control.stop_job_doc_id" class="doc_details"><summary>stop_job</summary>
   Causes the indicated job to stop just before executing a particular instruction.<br/>
   <i>Parameters</i>:<br/>
   <b>instruction_location</b> Optional. Determines the job to stop and the instruction within that
@@ -4412,18 +4414,18 @@
   the offset will be <code>"program_counter"</code>, i.e. the job will
   stop before executing its next instruction. Thus the default is that
   the current job will be stopped immediately.
-  See <a href="#" onclick="open_doc('Robot.go_to_doc_id', event)">Robot.go_to</a> for details
+  See <a href="#" onclick="open_doc('Control.go_to_doc_id', event)">Control.go_to</a> for details
   on the <code title="unEVALable code fragment"> instruction_location</code> format.<br/>
   <b>reason</b> A string. The reason that the job is being told to stop.<br/>
   <b>perform_when_stopped</b> A boolean. When <code>false</code> (the default)
   the job will behave as if its 'when_stopped' parameter is <code>"stop"</code>,
   i.e. the job will end. When <code>true</code>, the job's when_stopped action will
   be performed.<br/>
-  Example:<code>Robot.stop_job({job: "my_job", offset: "label1"})</code>
+  Example:<code>Control.stop_job({job: "my_job", offset: "label1"})</code>
   <code title="unEVALable code fragment"> Job.my_job</code> will stop when it reaches the instruction named "label1".
 </details>
 
-<details id="Robot.suspend_doc_id" class="doc_details"><summary>suspend</summary>
+<details id="Control.suspend_doc_id" class="doc_details"><summary>suspend</summary>
   Causes the indicated job to pause. It will not execute any more of its instructions
   until it is unsuspended. <br/>
   <i>Parameters:</i> <br/>
@@ -4433,11 +4435,11 @@
   May also be a job_instance to suspend.<br/>
   <b>reason</b> Default: <code>""</code>. A string of why the job is suspended.<br/>
   <i>Example:</i>
-  <code>Robot.suspend()</code>.<br/>
+  <code>Control.suspend()</code>.<br/>
   Suspends the current job for no reason.
 </details>
 
-<details id="Robot.unsuspend_doc_id" class="doc_details"><summary>unsuspend</summary>
+<details id="Control.unsuspend_doc_id" class="doc_details"><summary>unsuspend</summary>
 Unsuspends a suspended job. If the job to be suspended is not suspended,
 no action will be taken. Note that a job cannot unsuspend itself,
 because it is not running.
@@ -4448,7 +4450,7 @@
    If a string, the job is stopped, with the reason of this stop_reason.
 <p></p>
 <i>Example:</i><br/>
-<code>Robot.suspend("my_job")</code> <p></p>
+<code>Control.suspend("my_job")</code> <p></p>
 <b>unsuspend</b> is also a method on a job.<br/>
 <i>Example:</i><br/>
 <code title="unEVALable code fragment"> Job.my_job.unsuspend()</code>.<br/>
@@ -4458,7 +4460,7 @@
 </details>
 
 
-<details id="Robot.sync_point_doc_id" class="doc_details"><summary>sync_point</summary>
+<details id="Control.sync_point_doc_id" class="doc_details"><summary>sync_point</summary>
   A sync_point instruction causes all running jobs with the same-named sync_point
   to pause until they all reach the sync_point. Once that happens, they
   are all allowed to proceed executing their instructions.<br/>
@@ -4470,7 +4472,7 @@
     you want to all pause at the same place. A sync_point instruction may
     contain the name of the job its in. Effectly that doesn't matter,
     but does allow all the same-named sync points to have the same list of job_names.<br/>
-    Example: <code>Robot.sync_point("midway", ["job_one", "job_two"])</code><br/>
+    Example: <code>Control.sync_point("midway", ["job_one", "job_two"])</code><br/>
    <p></p>
    If a sync point instruction has no job names, or only its own job name,
    it will not wait but rather breeze right through its sync_point.
@@ -4484,11 +4486,11 @@
    because it allows those jobs that <i>can</i> proceed to do so.
 </details>
 
-<details id="Robot.send_to_job_doc_id" class="doc_details"><summary>send_to_job</summary>
-<code>Robot.send_to_job</code> inserts instructions into another job's do_list. It can also
-start, unsuspend and grab data from another job. <code>Robot.send_to_job</code> is complex, powerful,
+<details id="Control.send_to_job_doc_id" class="doc_details"><summary>send_to_job</summary>
+<code>Control.send_to_job</code> inserts instructions into another job's do_list. It can also
+start, unsuspend and grab data from another job. <code>Control.send_to_job</code> is complex, powerful,
 and rarely used. Example: <pre>
-Robot.send_to_job({do_list_item: Dexter.move_to([0, 0.5, 0.075]),
+Control.send_to_job({do_list_item: Dexter.move_to([0, 0.5, 0.075]),
                    where_to_insert: "end",
                    unsuspend: true,
                    wait_until_done: true})</pre>
@@ -4497,7 +4499,7 @@
 <li><b>where_to_insert</b> The location in the do_list of the to_job to insert the do_list_item.
   The full list of instruction_locations for <code title="unEVALable code fragment"> where_to_insert</code>
   can be seen in the documentation for the
-  <a href="#" onclick="open_doc('Robot.go_to_doc_id', event)">Robot.go_to</a> instruction.
+  <a href="#" onclick="open_doc('Control.go_to_doc_id', event)">Control.go_to</a> instruction.
   Particularly useful ones for send_to_job are:<br/>
   <ul><li><code>{job: "other_job", offset: "next_top_level"}</code> Inserts the do_list_item
   after the program_counter and just before the next original (top level) do_list item
@@ -4545,13 +4547,13 @@
     <code>Job.insert_instruction</code>.
 </details> <!-- end send_to_job -->
 
-<!-- obsoleted by initial_instruction and insert_instruction <details id="Robot.sent_from_job_doc_id" class="doc_details"><summary>sent_from_job</summary>
+<!-- obsoleted by initial_instruction and insert_instruction <details id="Control.sent_from_job_doc_id" class="doc_details"><summary>sent_from_job</summary>
 This instruction is typically not created by users directly. send_to_job creates
 such an instruction and places it on the to_job as a container for the newly inserted
 instructions. However, if you want to extend the do_list of a job when starting it,
 you can pass an instance of <code>sent_from_job</code> as an option
 of start. This will insert the new instruction(s) just before the job is started.
-Example:<pre>Job.j8.start({sent_from_job: Robot.sent_from_job(
+Example:<pre>Job.j8.start({sent_from_job: Control.sent_from_job(
           {do_list_item: function(){out("special insert")},
            where_to_insert: "sp1"})})
 </pre>
@@ -4561,9 +4563,9 @@
 you call start with no argument.
 </details> --> <!-- end sent_from_job -->
 
-<details id="Robot.wait_until_doc_id" class="doc_details"><summary>wait_until</summary>
+<details id="Control.wait_until_doc_id" class="doc_details"><summary>wait_until</summary>
 This instruction causes a job to pause until the supplied condition is met.<br/>
-Example:<code>Robot.wait_until(2)</code><br/>
+Example:<code>Control.wait_until(2)</code><br/>
 <i>Parameter:</i><br/>
 <b>fn_date_dur</b> Default: <code>1</code> This argument can be one of:
 <ul><li><b>an integer</b> The number of seconds for the wait. </li>
@@ -4587,19 +4589,19 @@
     on the do_list, then this job waits until a new instruction is added on the
     end of a do list.<br/>
     <i>Example</i>:<pre><code title="unstartable in TestSuite"> new Job({name: "my_job",
-         do_list: [Robot.out("first instruction"),
-                   Robot.wait_until("new_instruction")]})
+         do_list: [IO.out("first instruction"),
+                   Control.wait_until("new_instruction")]})
     </code></pre>
         Evaling <code title="unEVALable code fragment"> Job.my_job.start()</code><br/>
         causes "first instruction" to be printed out, then the
         job pauses until an instruction is inserted into the do_list right after this "wait_until" instruction.<pre>
-<code title="unEVALable code fragment"> Job.insert_instruction(Robot.out("the end"),
+<code title="unEVALable code fragment"> Job.insert_instruction(IO.out("the end"),
                        {job: "my_job",
                         offset: "after_program_counter"})</code></pre>
         Causes wait_until to stop waiting, "the end" is printed and the job completes successfully.<br/>
         If instead of that argument to <code>Job.insert_instruction</code>, we had instead used:<pre>
-<code title="unEVALable code fragment"> Job.insert_instruction([Robot.out("the middle"),
-                        Robot.wait_until("new_instruction")],
+<code title="unEVALable code fragment"> Job.insert_instruction([IO.out("the middle"),
+                        Control.wait_until("new_instruction")],
                         {job: "my_job",
                          offset: "after_program_counter"})</code></pre>
         then each time we eval that code, it prints "the middle" and
@@ -4613,26 +4615,240 @@
          to refer to a program_counter that is less than or equal to
          the program_counter in the job referenced by the instruction_location.
          This instruction waits until a job gets to a certain instruction.
-         This performs like a one_sided <code>Robot.sync_point</code> instruction
+         This performs like a one_sided <code>Control.sync_point</code> instruction
          where the job this instruction is in will wait for the job
          specified in the instruction_location, but not the other way around.
-         Its advantage over <code>Robot.sync_point</code> is that you don't have
-         to have a Robot.sync_point instruction in the job you're waiting for.
+         Its advantage over <code>Control.sync_point</code> is that you don't have
+         to have a Control.sync_point instruction in the job you're waiting for.
          Thus you can wait for a job reaching one of its instructions
          that never expected it to be waited for.<br/>
          Warning: If the instruction_location specifies the job
-         that this <code>Robot.wait_until</code> instruction is in, or lets the instruction_location
+         that this <code>Control.wait_until</code> instruction is in, or lets the instruction_location
          default to that, this job could wait for itself and thus forever.</li>
 
 </ul>
 </details> <!-- end wait_until -->
+</details> <!-- end Control -->
+<details class="doc_details"><summary>IO</summary>
+    IO instructions can be used in any Job, regardless of its default robot.
+    <details id="IO.get_page_doc_id" class="doc_details"><summary>get_page</summary>
+        Similar to the function <code>get_page</code>, only made into an instruction.
+        This instruction gets the content of a url and places it in a given user_data variable
+        on the job instance before allowing the next instruction in the do_list to run.<br/>
+        Example:<pre><code>new Job({name: "j1",
+         do_list: [IO.get_page("http://www.nactem.ac.uk/software/acromine/dictionary.py?sf=BMI"),
+                   function(){out("got response of: " +
+                                    this.user_data.http_response)}
+         ]}) </code></pre>
+        <i>Parameters:</i><br/>
+        <b>url_or_options</b>: The url whose contents this instruction gets.<br/>
+        Instead of a url as the argument, you can pass a literal JS object with lots of options, described at:
+        <a target="_blank" href="https://www.npmjs.com/package/request">options</a>
+        These include the HTTP methods of: GET (the default), POST, PUT, PATCH, DELETE, HEAD, OPTIONS,
+        plus a zillion other options for authentication, etc.
+        <p></p>
+        <b>response_variable_name</b>: Default: <code>"http_response"</code>. The name
+        of the property in the job instance's user_data object to set to the
+        content of the url.
+        <p></p>
+        Using <code>make_url</code> can help make constructing calls to <code>get_page</code> a bit easier.
+        Example:<pre><code title="not in TestSuite"> Control.get_page(make_url("www.nactem.ac.uk/software/acromine/dictionary.py",
+                         {sf: "BMI"}))</code></pre>
+        <code>make_url</code> is documented in the reference manual under "I/O".
+    </details> <!-- end get_page -->
+
+    <details id="IO.grab_robot_status_doc_id" class="doc_details"><summary>grab_robot_status</summary>
+        robot_status is an array that holds data from the robot, along with aspects of the instruction
+        that was sent to the robot to capture that data. This array is the value of the robot
+        instance field <code title="unEVALable code fragment"> robot_status</code>. <p></p>
+        The instruction: <code>IO.grab_robot_status()</code> provides an easy way to get values out of that array
+        and made available for other instructions to use.<br/>
+        <i>Parameters</i><br/>
+        <b>user_data_variable</b> Default: <code>"grabbed_robot_status"</code> A string (required) of the name of the job's
+        <code title="unEVALable code fragment"> user_data</code> variable to shove the grabbed
+        robot_status data into. If there is already such a variable,
+        its value is over-written. If not, it is created and intialized
+        with the new value.
+        <p></p>
+        After this instruction is run, the grabbed value
+        is available globally Job.the_job_name.user_data.the_val_of_this_arg.<br/>
+        For instance, if this job is named "my_job" and the value of
+        user_data_variable is "my_var" then:
+        <code title="unEVALable code fragment"> Job.my_job.user_data.my_var</code>
+        But inside another instruction that is defined as a function,
+        <code>this</code> will be bound to the current job instance so:
+        <code title="unEVALable code fragment"> this.user_data.my_var</code> will access the grabbed data.<br/>
+
+        <b>start_index</b> A non-negative integer signifying the
+        first data item to extract from the robot_status array.
+        Its default value is the value of <code>Serial.DATA0</code>
+        Another normal value would be <code>Dexter.J1_ANGLE</code>
+        See below for a comprehensive list.
+        <br/>
+        <i>Special values:</i><br/>
+        <code>"all"</code> The entire 60 element robot_status
+        array is used. The value of end_index is ignored.<br/>
+        <code>"data_array"</code> The part of the robot_status array after
+        the header information is used. For Serial robots, this will be just
+        the data returned by the serial port. For Dexter robots, this
+        will be the data about Dexter's joint angles, etc.
+        The value of end_index is ignored.<br/>
+        <b>end_index</b> A non-negative integer signifying the last element of the
+        robot_status array to extract. The default value is <code>null</code>.
+        If this value is null or not passed, only the data at the start_index
+        is used. The value stored in the user_data variable will NOT be an array,
+        just that one element.<br/>
+        <i>Special value</i> <code>"end"</code> The portion of the robot_status
+        from start_index through the end of the robot_status array is extracted.
+        <p></p>
+        If both the start_index and end_index are not passed,
+        then the value will be: For a Serial robot, the first "item"
+        returned from the serial port in response to a send.
+        For Dexter, it will be DMA_READ_DATA.
+        <p></p>
+        You can use some constants for the values of start_index and end_index.<br/>
+        For a Dexter robot these are: <br/>
+        <code>Dexter.JOB_ID</code><br/>
+        <code>Dexter.INSTRUCTION_ID</code><br/>
+        <code>Dexter.START_TIME</code> //ms since jan 1, 1970 from Dexter's clock<br/>
+        <code>Dexter.STOP_TIME</code><br/>
+        <code>Dexter.INSTRUCTION_TYPE</code> //a letter signifying the instruction type.<br/>
+        <br/>
+        <code>Dexter.ERROR_CODE</code> //0 means no error.<br/>
+        <code>Dexter.RECORD_BLOCK_SIZE</code><br/>
+        <code>Dexter.END_EFFECTOR_IN</code><br/>
+        <br/>
+        <code>Dexter.J6_MEASURED_ANGLE</code><br/>
+        <code>Dexter.J6_MEASURED_TORQUE</code><br/>
+        <code>Dexter.J7_MEASURED_ANGLE</code><br/>
+        <code>Dexter.J7_MEASURED_TORQUE</code><br/>
+        and, for J1 through J5,
+        <br/>
+        <code>Dexter.J1_ANGLE</code><br/>
+        <code>Dexter.J1_DELTA</code><br/>
+        <code>Dexter.J1_PID_DELTA</code><br/>
+        <code>Dexter.J1_A2D_SIN</code><br/>
+        <code>Dexter.J1_A2D_COS</code><br/>
+        <code>Dexter.J1_MEASURED_ANGLE</code><br/>
+        <code>Dexter.J1_SENT</code><br/>
 
+        <p></p>
+        For a Serial robot these are:<br/>
+        <code>Serial.JOB_ID</code><br/>
+        <code>Serial.INSTRUCTION_ID</code><br/>
+        <code>Serial.START_TIME</code>          // ms since jan 1, 1970 from Dexter's clock<br/>
+        <code>Serial.STOP_TIME</code>          // ms since jan 1, 1970 from Dexter's clock<br/>
+        <code>Serial.INSTRUCTION_TYPE</code>   // A letter indicating the instruction type<br/>
+
+        <code>Serial.ERROR_CODE</code>          // means no error.<br/>
+        <code>Serial.DATA0</code>               // data coming back from the board<br/>
+        <code>Serial.DATA1</code><br/>
+        <code>Serial.DATA2</code><br/>
+        <code>Serial.DATA3</code><br/>
+        <code>Serial.DATA4</code><br/>
+        <code>Serial.DATA5</code><br/>
+        <code>Serial.DATA6</code><br/>
+        <code>Serial.DATA7</code><br/>
+        <code>Serial.DATA8</code><br/>
+        <code>Serial.DATA9</code><br/>
+        <br/>
+
+        In order to insure that the Dexter robot_status array is up to date,
+        you should place <code>Dexter.get_robot_status()</code> in your do_list before
+        the grab_robot_status instruction.<br/>
+        <i>Examples of 2 adjacent instructions on a job's do_list:</i><br/>
+
+        <code>Dexter.get_robot_status()</code><br/>
+        <code>IO.grab_robot_status("my_zero_data", Serial.DATA0) </code><br/>
+        grab_robot_status can be called with a subject of a job instance in place
+        of <code>Robot</code> like so:<br/>
+        <code> Robot.dexter0.grab_robot_status("my_user_data_var")</code>
+        <p></p>
+        See Job Example: <i>Serial Port</i> for an extended example.
+    </details> <!-- end grab_robot_status -->
+
+    <details id="IO.out_doc_id" class="doc_details"><summary>out</summary>
+        Very similar to the function <code>out</code> but made for use as a robot instruction.
+        Prints a message to the Output pane in the color of your choice.
+        This is the "print statement" as an instruction, so useful in debugging.<p></p>
+        <i>Example:</i><br/>
+        <code>IO.out("hey " + 345, "green")</code><p></p>
+        <i>Parameters:</i><br/>
+        <b>val</b> Any JavaScript data. Most commonly this is a string, but
+        can be a number, an array etc.<br/>
+        <b>color</b> A string representing a color. Default "black". Can
+        be any string in the <b>color</b> series, or have the format:<br/>
+        <code>"rgb(255, 100, 0)"</code>.<br/>
+        <b>temp</b> Default: <code>false</code>. With the default, printed output stays in the
+        Output pane until DDE is relaunched.
+        <p></p>
+        If temp is <code>true</code>,
+        then <b>val</b> is still printed in the Output pane, but is over-ridden
+        by subsequence calls to out with temp == true. Calls to out with temp == false
+        will erase any "temp" output.
+        <p></p>
+        If temp is a string, then out prints <b>val</b> similarly to temp == true in that
+        the previous call to out with that temp string will be over-ridden in place.
+        However, when another call to out with a different value for temp occurs,
+        the output of out with a temp string will <i>not</i> be erased.
+        Thus the last call to out with a given temp string remains in the Output pane,
+        in its place, regardless of other out calls.
+        <p></p>
+        Unlike an instruction such as:<br/>
+        <code>function(){out("The status is: " + this.status_code)}</code><br/>
+        IO.out cannot access its job instance, but it does print out
+        its job name and instruction ID right before printing <code title="unEVALable code fragment"> val</code>.
+        <p></p>
+        See also <a href="#" onclick="open_doc(print_statements_doc_id, event)">print statements</a>
+    </details> <!--end out -->
+    <details id="IO.show_picture_doc_id" class="doc_details"><summary>show_picture</summary>
+    This instruction takes the same arguments and has the same functionality as the method
+    <a href="#" onclick="open_doc('Picture.show_picture_doc_id')">Picture.show_picture</a>
+    except that it doesn't take a callback argument.<br/>
+    <i>Example:</i>
+        <pre><code>new Job({name: "my_job",
+         do_list: [IO.show_picture()]})
+      </code></pre>
+    </details>
+    <details id="IO.show_video_doc_id" class="doc_details"><summary>show_video</summary>
+        This instruction takes the same arguments and has the same functionality as the method
+        <a href="#" onclick="open_doc('Picture.show_video_doc_id')">Picture.show_video</a>
+        except that it doesn't take a callback argument.<br/>
+        <i>Example:</i>
+        <pre><code>new Job({name: "my_job",
+     do_list: [IO.show_video()]})
+      </code></pre>
+    </details>
+    <details id="IO.take_picture_doc_id" class="doc_details"><summary>take_picture</summary>
+        This instruction takes the same arguments and has similar functionality as the method
+        <a href="#" onclick="open_doc('Picture.take_picture_doc_id')">Picture.take_picture</a>
+        except that it doesn't take a <b>camera_id</b> argument.
+        It does take a callback argument.
+        The next instruction is run after the callback returns, providing
+        the callback doesn't take too long, so keep callback computation fairly short
+        if your next instruction depends on the callback being completed.
+        <p></p>
+        The callback is called with <code>this</code> bound to the job
+        that this instruction is running in.<br/>
+        If the callback is a string, it is considered to be the name of
+        a user_data variable that you want to set to the mat created
+        with take_picture. You can then use this mat in further instructions.
+        <br/>
+        <i>Example:</i>
+        <pre><code>new Job({name: "my_job",
+         do_list: [IO.take_picture({callback: "my_pic"})]})
+  </code></pre>
+        <code>Job.my_job.user_data.my_pic</code><br/>
+        returns the mat.
+    </details>
+    </details> <!--end IO -->
 </details> <!-- end Robot Instructions -->
 
 <details id="Brain_doc_id" class="doc_details"><summary>Brain</summary>
 <b>Brain</b> is a virtual robot used to manage other robots or do purely software tasks.
-It has no special instructions of its own, but inherits Robot's instructions, just
-like all the other robots.
+It has no special instructions of its own, but can use Control, Human, IO and the
+miscellaneous Robot instructions (function definitions, etc),
+just like all the other robots.
 <p></p>
 </details> <!-- End Brain -->
 
@@ -4889,7 +5105,7 @@
 This instruction blocks further processing of the job's do_list instructions until
 all of the instructions on Dexter's instruction_queue are executed.
 <p></p>
-See also the instruction: <code>Robot.grab_robot_status</code>
+See also the instruction: <code>Control.grab_robot_status</code>
 </details>
 
 <details id="Dexter.get_robot_status_immediately_doc_id" class="doc_details"><summary>get_robot_status_immediately</summary>
@@ -4941,7 +5157,7 @@
 <p></p>
 If a joint angle is passed in as an array of one number, that number will
 be used as the "relative" degrees to add to the current joint angle.
-So for instance, if the preious move_all_joints instruction
+So for instance, if the previous move_all_joints instruction
 for j1 indicated <code>30</code>,
 and the next move_all_joints command for j1 indicated <code>[5]</code>, then
 j1 would be moved to 35 degrees. The syntax of using a number wrapped in an array
@@ -5238,7 +5454,12 @@
                    }
                ]})</code></pre>
     See also <a href="#" onclick="open_doc(read_file_doc_id)">read_file</a>
-
+    <p></p>
+    <code id="Dexter.read_from_robot_doc_id">Dexter.read_from_robot</code> is a similar instruction, except that the default folder
+    for the <i>source</i> is "/srv/samba/share/" and not
+    "/srv/samba/share/dde_apps" as it is for <code>Dexter.read_file</code>.
+    <code>Dexter.read_from_robot</code> is maintained for backwards compatibility.
+    Most users are expected to use <code>Dexter.read_file</code>
 </details>
 
 <details id="Dexter.run_gcode_doc_id" class="doc_details"><summary>run_gcode</summary>
@@ -5359,19 +5580,27 @@
    DDE's socket interface to the Linux OS runnning on Dexter's processor
    board.<br/>
    <i>Parameters:</i><br/>
+    <b>file_name</b> The name of the file to be written on Dexter.
+    Example: <code>"/srv/samba/share/AdcCenters.txt"</code> is
+    where calibration data is written.<br/>
    <b>content</b> A string. Default: <code>""</code>
     The content to be written. This function automatically escapes
     null, semicolon and percent (the escape character) in a_string
     for transmission.
     <br/>
-    <b>file_name</b> The name of the file to be written on Dexter.
-    Example: <code>"/srv/samba/share/AdcCenters.txt"</code> is
-    where calibration data is written.<br/>
     <i>Example:</i><br/>
     <code>Dexter.write_file("/srv/samba/share/greeting.txt", "hello world")</code><br/>
     This instruction requires an upgrade to Dexter's software available May, 2018.
     <p></p>
     See also <a href="#" onclick="open_doc('write_file_doc_id')">write_file</a>
+    <p></p>
+    <code id="Dexter.write_to_robot_doc_id">Dexter.write_to_robot</code> is a similar instruction,
+    except that the default folder
+    for the <i>file_name</i> is "/srv/samba/share/" and not
+    "/srv/samba/share/dde_apps" as it is for <code>Dexter.write_file</code>.
+    Also write_to_robot has its content argument 1st, and its file_name argument 2nd.
+    <code>Dexter.write_to_robot</code> is maintained for backwards compatibility.
+    Most users are expected to use <code>Dexter.write_file</code>
 </details>
 </details> <!-- end dexter_instructions -->
 
@@ -5430,15 +5659,34 @@
 </details> <!--End Dexter Modes-->
 
 <details class="doc_details"  id="RobotStatus_doc_id"><summary>RobotStatus</summary>
+    When an instruction is sent to Dexter from DDE, Dexter sends back to DDE
+    an array of 60 numbers containing robot status information. The DDE menu
+    item <b>Jobs/Show robot status</b> presents this array in a chart labeling
+    each number so you can make sense of it.
+    <p></p>
+    The Robot status array is stored on each Dexter instance under, for example:<br/>
+    <code>Dexter.dexter0.robot_status</code><br/>
+    You can use constants bound to index
+    values to extract particular values like so:
+    <code>Dexter.dexter0.robot_status[Dexter.J1_MEASURED_ANGLE]</code><br/>
+    See the full list of such constants in the documentation for
+    <a href="#" onclick="open_doc('Control.grab_robot_status_doc_id')">Control.grab_robot_status</a>
+    <p></p>
     <code>RobotStatus</code> is a class whose instances store information about
-    a Dexter robot. Each Dexter robot instance has a field named <code title="unEVALable">robot_status</code>
-    i.e. <code>Robot.dexter0.robot_status</code>
+    a Dexter robot. Each Dexter robot instance has a field named <code title="unEVALable">rs</code>
+    i.e. <code>Dexter.dexter0.rs</code>
     whose value is an instance of <code>RobotStatus</code>.
     <p></p>
-    The following are instance methods on <code>RobotStatus</code>.
+    The following are instance methods on <code>RobotStatus</code> that make it easy
+    to access various robot status values.<br/>
+    <i>Examples:</i><br/>
+    <code>Dexter.dexter0.rs.job_id()</code><br/>
+    <pre><code>new Job({name: "my_job",
+         do_list:[function(){out(this.robot.rs.measured_angle(1))}]
+         })     </code></pre>
     <details id="RobotStatus.job_id_doc_id" class="doc_details"><summary>job_id</summary>
         Returns the job_id of the job corresponding to the instruction of this robot_status.
-        This is usually the last instruciton sent to Dexter.<br/>
+        This is usually the last instruction sent to Dexter.<br/>
         Takes no parameters.
     </details>
     <details id="RobotStatus.instruction_id_doc_id" class="doc_details"><summary>instruction_id</summary>
@@ -5534,9 +5782,6 @@
         <b>joint_count</b> Default: <code>5</code>
         An integer from 0 through 7 indicating the number of joints to return their angles on.
     </details>
-
-
-
     <details id="RobotStatus.measured_angle_doc_id" class="doc_details"><summary>measured_angle</summary>
         Returns the a2d_cos of a joint.  <br/>
         <i>Parameter</i><br/>
@@ -5809,7 +6054,7 @@
            Human.speak({speak_data: "hi there folks",
                         rate: 0.25,
                         wait: true}),
-           Robot.out("done")
+           IO.out("done")
          ]})</code></pre>
    This job doesn't print "done" until after "hi there folks" has been spoken.
 </details>
@@ -5844,7 +6089,7 @@
     <i>Examples:</i>
     <pre><code title="unstartable in TestSuite"> new Job({name: "my_job",
     do_list: [Human.task({task: "Load filament now."}),
-              Robot.out("We're done.")]})
+              IO.out("We're done.")]})
               </code></pre>
     <pre><code title="unstartable in TestSuite"> new Job({name: "my_job",
     do_list: [Human.task({title: "&lt;b>Attention&lt;/b> Operator!",
@@ -5855,7 +6100,7 @@
                           width:  300,
                           height: 120,
                           background_color: "rgb(200, 255, 200)"}),
-    Robot.out("We're done.")]})
+    IO.out("We're done.")]})
     </code></pre>
 </details> <!-- end task -->
 
@@ -5951,7 +6196,7 @@
                   ["dd", '"joe"'],
                   ["ee", 'this.name + " is cool"'],
                   ["ff", 'myfn.call(this)'],
-                  ["gg", 'Robot.out("hey")', true]
+                  ["gg", 'IO.out("hey")', true]
                  ],
            show_choices_as_buttons: true,
            add_stop_button: false,
@@ -5999,7 +6244,7 @@
                       user_data_variable_name: "my_file",
                       height: 150}),
                    function(){
-                     return Robot.out("You chose: " +
+                     return IO.out("You chose: " +
                                        this.user_data.my_file)
                    }]})    </code></pre>
 </details>
@@ -6054,9 +6299,9 @@
                         this.user_data.a_number)}]})
             </code></pre>
     In the above example, the 2nd instruction couldn't be simply
-    <code title="unEVALable">Robot.out("Amount: " this.user_data.a_number)</code><br/>
+    <code title="unEVALable">IO.out("Amount: " this.user_data.a_number)</code><br/>
     nor even:<br/>
-    <code title="unEVALable">Robot.out("Amount: " Job.my_job.user_data.a_number)</code><br/>
+    <code title="unEVALable">IO.out("Amount: " Job.my_job.user_data.a_number)</code><br/>
     because each of those would be evaluated during the call to<br/>
     <code title="unEVALable">new Job(...)</code> and thus
     the new job would not yet be defined, much less have the
@@ -6368,7 +6613,7 @@
 See Jobs menu/Insert Example/Serial Port for an extended example.
 </details>
 
-<details  class="doc_details"><summary>Robot.grab_robot_status</summary>
+<details  class="doc_details"><summary>Control.grab_robot_status</summary>
 This is not a <i>Serial</i> instruction, but one that can be used
 with any robot. It captures the robot_status, or some portion of it,
 and saves it away in a user_data variable on the Job instance for
@@ -6376,10 +6621,10 @@
 <p></p>
 When a Serial.string_instruction is run and the device retruns a value,
 that string is placed in the robot_status. You can then use
-Robot.grab_robot_status to extract it from the robot status
+Control.grab_robot_status to extract it from the robot status
 and stick it in a user_data variable.
-See <a href="#" onclick="open_doc('Robot.grab_robot_status_doc_id')">
-        Robot.grab_robot_status</a>
+See <a href="#" onclick="open_doc('Control.grab_robot_status_doc_id')">
+        Control.grab_robot_status</a>
 </details>
 
 
@@ -6395,7 +6640,7 @@
 In other words, the serial string_instructions run <i>in serial</i>,
 not parallel.
 <p></p>
-You can also call <code>Robot.grab_robot_status</code> with a subject of
+You can also call <code>Control.grab_robot_status</code> with a subject of
 a robot instance (instead of <code>Robot</code>) so that
 you can be sure to get the correct return value from
 a given string_instruction instruction.<br/>
@@ -6414,7 +6659,7 @@
          robot: new Brain(), //not used, but prevents the default Robot.dexter0 from being used
          do_list: [Robot.S1.string_instruction("y"),
                    Robot.S1.grab_robot_status("yes_result"),
-                   Robot.wait_until(2),
+                   Control.wait_until(2),
                    Robot.S1.string_instruction("n"),
                    Robot.S1.grab_robot_status("no_result", Serial.DATA0)
                    ]}
diff --git a/doc/release_notes.html b/doc/release_notes.html
index 23ecb3fe..d00b09b8 100644
--- a/doc/release_notes.html
+++ b/doc/release_notes.html
@@ -5,9 +5,173 @@
     }
     .doc_details summary { font-weight: 600; }
 </style>
+<details class="doc_details"><summary>v 3.4.0, Jun 27, 2019</summary>
+Higlights: read_file and write_file, both instructions and functions improved.<br/>
+           Click help: new 2nd line decribing "context".<br/>
+           New Ref Man/Job/Definition Time Vs Run Time section.<br/>
+           set_parameter improved.<br/>
+           Robot.instructions deprecated and are now divided into
+           Control.instructions & IO.instructions.<br/>
+           Editor improvements.
+<ul>
+    <li> Removed the "ws" package from the "dependencies" list in package.json.
+        This was not being used. Github called it a security risk.</li>
+
+    <li> Click help handles literal strings better.</li>
+
+    <li> Click help improvements for string, "new" calls, keywords.</li>
+
+    <li> New click help printed on a new line just below regular click help
+         that shows the "context" of what you clicked on.
+         If you click on the argument of a fn call, it
+         tells you which argument and the name of the function.
+         This context help is not implemented for all JS syntactic constructs,
+         but does supply useful help for many common situations.</li>
+
+    <li> <code>make_folder</code> now works for WindowsOS too.
+        This fixes a bug in write_file on WindowsOS when hte dir is none-existent.</li>
+
+    <li> Extended Ref Man for how to get the current default robot from a running job
+         under both Job and Robot.</li>
+
+    <li> Major new Ref Man/Job/Definition Time Vs Run Time section
+         to help the user's model of how a Job operates.</li>
+
+    <li> <code>to_source_code_instruction_array</code>
+         fixed bug when the "indent" property doesn't exist on arg.</li>
+
+    <li> Make Instruction fixed bug in inserting a low level Job that has never been
+         run and we're not attempting to segment its do_list, just print its source
+         as is in the dialog's do_list item.</li>
+
+    <li> Make Instruction, if you switch instructions to set_parameter, and
+         the previous instruction had a name field, and that previous value
+         for "name" isn't a valid set_parameter name, the new name is set to "Acceleration",
+         i.e. the default set_parameter name.</li>
+
+    <li> Click help now works on textareas presented in the Make Instruction dialog.</li>
+
+    <li> Editor tab has indented to 4 spaces. Now you can "unindent" 4 spaces by typing
+         ctrl [  (on the PC, or cmd [ (on the mac)</li>
+
+    <li> Slight reorg of DDE's Learn JS menu:
+         Now "Comments" has its own submenu and its close to the top.
+         "Debugging, etc" submenu renamed to "Debugging" and
+         doesn't contain the comment menu items.</li>
+
+    <li> Editor: when you switch to another file, and your current file has not been saved,
+         and the "Save" checkbox in the output pane is not checked,
+         You will be prompted as to whether the current file should be saved.
+         If the "Save" checkbox is checked, the current file will automatically
+         be saved as always.</li>
+
+    <li> Big fix to Dexter.read_file for real, as well as making Simulator more
+         compatible with real.</li>
+
+    <li> Ref Man/Robot/Robot Instructions/grab_robot_status
+         the set of robot_status index constants has been updated.</li>
+
+    <li> Ref Man/Robot/Dexter/RobotStatus doc corrected and extended
+         with explanation and examples.</li>
+
+    <li> For <code>Dexter.read_file</code> and <code>Dexter.write_file</code>,
+         if the path starts with a #,
+         don't modify it by adding "dde_apps", just leave it alone.</li>
+
+    <li> Conversion of <code>Dexter.set_parameter</code> args
+         from DDE high level (degrees, meters) to
+        what is actually sent to Dexter (arcseconds, microns)
+        updated to match https://github.com/HaddingtonDynamics/Dexter/wiki/set-parameter-oplet
+        which included fixing:<br/>
+        AngularSpeed<br/>
+        AngularSpeedStartAndEnd<br/>
+        AngularAcceleration<br/>
+        all the Cartesian parameters<br/>
+        RawEncoderErrorLimits<br/>
+        RawVelocityLimits.</li>
+
+    <li> User Guide/Configure Dexter/Verify Joint Wiring,
+        now refers the user to
+        https://github.com/HaddingtonDynamics/Dexter/wiki/Troubleshooting
+        for verifying jumper wires.</li>
+
+    <li> Ref Man/Robot/Robot Instructions/get_page, and the functions
+         <code>get_page</code> & <code>get_page_async</code> extended with:
+        (Permissible options) include the HTTP methods of:<br/>
+        GET (the default)<br/>
+        POST<br/>
+        PUT<br/>
+        PATCH<br/>
+        DELETE<br/> HEAD<br/>
+        OPTIONS<br/>
+        plus a zillion other options for authentication, etc.</li>
+
+    <li> Reorg of instructions.
+        The <code>Robot</code> instructions have been moved to
+        <code>Control</code> and <code>IO</code> classes.
+        Control now has:<br/>
+        "break", "go_to", "loop","label", "suspend", "unsuspend", "sync_point", "wait_until"
+        "include_job", "send_to_job", "sent_from_job" "start_job", "stop_job"
+        "debugger", "error", "if_any_errors"<br/>
+        IO now has:<br/>
+         "get_page", "grab_robot_status", "out",
+        "show_picture", "show_video", "take_picture"<br/>
+        So the preferred way to reference these is:
+        <code>Control.loop</code>, <code>IO.get_page</code>, etc.<br/>
+       <code>Robot.loop</code> and <code>Robot.get_page</code>, etc.
+       are deprecated but still available.
+       Ref Man for Robot instructions moved into new sections for Control and IO.
+       All examples updated.</li>
+
+    <li> <code>IO.show_picture</code>, <code>IO.show_video</code>, <code>IO.take_picture</code>
+     are now formally documented under Ref Man/Robot/Robot Instructions/IO</li>
+
+    <li> The Jobs examples are better formatted with insert 4 spaces for every indent.</li>
+
+    <li> new Jobs menu item: "New Job", inserts
+<pre><code>new Job({
+    name: "my_job",
+    do_list: [
+        |   (vert vbar is whare cursor is left)
+    ]
+})</code></pre>
+    into the editor. If there is a select, it assumes its one or more do_list items
+    and wraps the new Job around the selection.
+    Keystroke Ctrl-j</li>
+
+    <li> New menu item: Editor/Indent Sel(ection)
+        Indents the selected code, being clever about JS code.
+        Preserves existing number of lines,
+        but does a pretty good job at intending semantically.
+        Keystroke shift-tab</li>
+
+    <li> With save checkbox unchecked, and new buffer that has new content in it,
+        attempt to switch to a new buffer, you get a dialog of cancel, save, delete.
+        If you choose delete, it *should* just delete the buffer,
+        But instead you get the confirm dialog:<br/>
+         "before editing ____ save _____ ?</li>
+
+    <li> <code>read_file</code>, <code>write_file</code> both instructions and functions:
+        their default folder is dde_apps, including on Dexter, srv/samba/share/dde_apps
+        BUT the "r" and "W" oplets and the older instructions
+        <code>Dexter.read_from_robot</code>, <code>Dexter.write_to_robot</code> (deprecated)
+        instructions use srv/samba/share as their default folders.
+        Ref Man/Robot/Dexter/Dexter Instructions/read_file and write_file documentation updated.</li>
+
+    <li> Instructions <code>Dexter.read_file</code> and
+        <code>Dexter.read_from_robot</code> given default value
+        for "destination" param of: "read_file_content".</li>
+
+    <li> New menu on File menu "open special..." shows dialog
+         for editing or showing DDE and Dexter system files:<br/>
+         dde_init.js,<br/> dde_persistent.json,<br/> error.logs,<br/> Defaults.make_ins</li>
+
+    <li> Slight improvement to Ref Man/IO/Sound/Music with MIDI/Synthesizers/Midi.init</li>
+</ul>
+</details>
 
 <details class="doc_details"><summary>v 3.3.8, Jun 5, 2019</summary>
-Highlight: Improvements to Job Engine, Dexter.set_parameter, Kin.js and
+Highlights: Improvements to Job Engine, Dexter.set_parameter, Kin.js and
 getting dexter-specific link lengths.
 <ul>
     <li> <code>make_folder</code> fixed to adjust to OS file path conventions.
@@ -30,7 +194,7 @@
          now handled properly and
          the user_data.destination is filled with an integer error code, typically 1.</li>
 
-    <li> Fixed bugs in <code>Robot.loop</code> that caused it not to initialize correctly
+    <li> Fixed bugs in <code>Control.loop</code> that caused it not to initialize correctly
          when restarting a job with a loop instruction in it.</li>
 
     <li> new testsuite file: loop_testsuite.js</li>
@@ -960,7 +1124,7 @@
         advancing program_counter when clicking the Go button.
         Doc slightly improved.</li>
 
-    <li> <code> Robot.if_any_errors</code> ref man doc improved.</li>
+    <li> <code> Control.if_any_errors</code> ref man doc improved.</li>
 </ul>
 </details>
 
@@ -1871,7 +2035,7 @@
     <li> Fixed <code>Robot.break</code> instruction to properly handle skipping past end of loop
         when the loop body has nested instructions.</li>
 
-    <li> Improved doc for <code>Robot.go_to</code></li>
+    <li> Improved doc for <code>Control.go_to</code></li>
 
     <li> Improved doc for <code>Job.insert_instruction</code></li>
 
@@ -2896,7 +3060,7 @@
 
     <li> bug fixed in inserting instructions into do list that was not properly updating
         the hierarchical added_items_count array.
-        This caused some instructions to be skipped when a <code>Robot.go_to</code>
+        This caused some instructions to be skipped when a <code>Control.go_to</code>
         backwards instruction was executed.</li>
 </ul>
 </details>
@@ -2963,7 +3127,7 @@
     <li> Slight improvement to Generator Job Example 4b and Job Example 4c, the job definitions.</li>
 
     <li> Jobs menu/Insert Example/  added new item:
-         Robot.go_to with several jobs using the Robot.go_to instruction</li>
+         Control.go_to with several jobs using the Control.go_to instruction</li>
 
     <li> dde_version_equal, dde_version_less_than dde_version_more_than renamed to not start with "dde_".
          doc and click_help improved.</li>
@@ -3329,7 +3493,7 @@
     <li> In doc pane, if there is no selection and no text in the find input,
         the colored sections are removed and the find pane is collapsed.</li>
 
-    <li> More intra-Ref-Man clickble links esp for Robot.go_to,
+    <li> More intra-Ref-Man clickble links esp for Control.go_to,
          and uman.task references.</li>
 
     <li> <code>Kin.is_in_reach()</code> has been updated.</li>
@@ -4168,7 +4332,7 @@
 
 <li> New Reference manual section Object System/Calling Methods</li>
 
-<li> Ref Man documentation for Robot.go_to now has the word
+<li> Ref Man documentation for Control.go_to now has the word
 "goto" in it so that users can "find" such a string
 if they type in it.</li>
 
diff --git a/doc_code.js b/doc_code.js
index a491eee2..07c9c63e 100644
--- a/doc_code.js
+++ b/doc_code.js
@@ -78,7 +78,7 @@ function open_doc(details_elt, record=true){
 }
 
 //fn_name can be the actual fn or a string of its name or a path to the fn, or a class
-//fn name might have dots in it like "Robot.go_to"
+//fn name might have dots in it like "Control.go_to"
 function open_doc_show_fn_def(details_elt, fn_name){
     if(typeof(details_elt) == "string"){
         details_elt = window[details_elt]
diff --git a/editor.js b/editor.js
index e7c7b853..971dca5b 100644
--- a/editor.js
+++ b/editor.js
@@ -36,6 +36,7 @@ Editor.init_editor = function(){
          lint: true,
          smartIndent: false, //default is true but that screws up a lot. false is suppose to
                                //indent each line to the line above it when you hit Return
+         indentUnit: 4, //default is 2. Using 4 makes it same size as tab, then cmd(mac or ctrl(PC) open square will unindent by this amount.
          extraKeys: //undo z and select_all (a) work automaticaly with proper ctrl and cmd bindings for win and  mac
              ((operating_system === "win") ?
                     {"Alt-Left":  Series.ts_or_replace_sel_left,
@@ -44,19 +45,22 @@ Editor.init_editor = function(){
                     "Alt-Up":     Series.ts_or_replace_sel_up,
                     "Alt-Down":   Series.ts_or_replace_sel_down,
                     "Ctrl-E": eval_button_action, //the correct Cmd-e doesn't work
+                    "Ctrl-J": Editor.insert_new_job,
                     "Ctrl-O": Editor.open,
                     "Ctrl-N": Editor.edit_new_file,
                     "Ctrl-S": Editor.save //windows
-                    } :
+                    } : //Mac
                     {"Alt-Left":  Series.ts_or_replace_sel_left,
                      "Alt-Right": Series.ts_or_replace_sel_right,
                      "Shift-Alt-Right": Series.ts_sel_shift_right, //no non ts semantics see above for why cuttong this
                      "Alt-Up":    Series.ts_or_replace_sel_up,
                      "Alt-Down":  Series.ts_or_replace_sel_down,
                      "Cmd-E": eval_button_action, //the correct Cmd-e doesn't work
+                     "Cmd-J": Editor.insert_new_job,
                      "Cmd-N": Editor.edit_new_file,
                      "Cmd-O": Editor.open,
                      "Cmd-S": Editor.save, //mac
+
                     })
 
 
@@ -75,6 +79,7 @@ Editor.init_editor = function(){
     unfold_all_id.onclick  = function(){CodeMirror.commands.unfoldAll(myCodeMirror)}
     select_expr_id.onclick = function(){Editor.select_expr()}
     select_all_id.onclick  = function(){CodeMirror.commands.selectAll(myCodeMirror); myCodeMirror.focus()}
+    indent_selection_id.onclick = function(){CodeMirror.commands.indentAuto(myCodeMirror)}
     set_menu_string(select_all_id, "Select All", "a")
 
     myCodeMirror.on("mousedown",
@@ -120,7 +125,12 @@ Editor.index_of_path_in_file_menu = function(path){
 
 //returns false if path is not in menu, true if it is. path expected to be a full path,
 Editor.set_files_menu_to_path = function(path) {
-    if(!path) { path = Editor.current_file_path }
+    if(!path) {
+        if(Editor.current_file_path){
+            path = Editor.current_file_path
+        }
+        else { return false }
+    }
     let i = Editor.index_of_path_in_file_menu(path)
     if (i === null) { return false }
     else {
@@ -527,6 +537,72 @@ Editor.open_on_dexter_computer = function(dex_name){
     setTimeout(function() {open_on_dexter_computer_file_path_id.focus()}, 100)
 }
 
+handle_open_system_file = function(vals){
+    if(vals.clicked_button_value == "edit dde_init.js"){
+        Editor.edit_file("dde_init.js")
+    }
+    else if (vals.clicked_button_value == "show dde_persistent.json"){
+        let content = read_file("dde_persistent.json")
+        content = replace_substrings(content, "\n", "<br/>")
+        if(sim_actual === true) {
+            warning("You are getting the content of " + path +
+                "<br/>from the DDE computer because the simulate radio button " +
+                "<br/>in the Misc pane is selected." +
+                "<br/>To get the file content from Dexter," +
+                "<br/>select the 'real' radio button.")
+        }
+        out(content)
+    }
+    else if (vals.clicked_button_value.endsWith("Defaults.make_ins")){
+        let path = vals.clicked_button_value.split(" ")[1]
+        let rob_name = path.split(":")[0]
+        let rob = Dexter[rob_name]
+        const sim_actual = Robot.get_simulate_actual(rob.simulate)
+        if(sim_actual === true) {
+            warning("You are getting the content of " + path +
+                    "<br/>from the DDE computer because the simulate radio button " +
+                    "<br/>in the Misc pane is selected." +
+                    "<br/>To get the file content from Dexter," +
+                    "<br/>select the 'real' radio button.")
+        }
+        Editor.edit_file(path)
+    }
+    else if (vals.clicked_button_value.endsWith("errors.log")){
+        let path = vals.clicked_button_value.split(" ")[1]
+        let rob_name = path.split(":")[0]
+        read_file_async(path,
+                        undefined,
+                        function(err, content){
+                          if(err) {
+                             warning("Could not get " + path + "<br/>Error: " + err)
+                          }
+                          else {
+                              content = replace_substrings(content, "\n", "<br/>")
+                              out("<b>" + rob_name + ":/srv/samba/share/errors.log</b> content:<br/>" + content)
+                          }
+                        })
+    }
+}
+
+Editor.open_system_file = function(){
+    let cont = "<fieldset><legend>on DDE Computer</legend>\n" +
+                "<input type='submit' value='edit dde_init.js'/><br/>" +
+                "<input type='submit' value='show dde_persistent.json'/>" +
+                "</fieldset>"
+    for(let dex_name of Dexter.all_names){
+         cont += "<fieldset><legend>on " + dex_name + "</legend>\n" +
+                 "<input type='submit' value='edit " + dex_name + ":../Defaults.make_ins'/><br/>" +
+                 "<input type='submit' value='show " + dex_name + ":../errors.log'/>" +
+                 "</fieldset>"
+    }
+    show_window({title: "Open System File",
+                 content: cont,
+                 width: 275,
+                 height: 450,
+                 callback: handle_open_system_file
+    })
+}
+
 Editor.remove = function(path_to_remove=Editor.current_file_path){
     if(path_to_remove == "new buffer") {
         let index = Editor.index_of_path_in_file_menu("new buffer") //returns null if none
@@ -535,7 +611,7 @@ Editor.remove = function(path_to_remove=Editor.current_file_path){
             if (Editor.current_file_path == path_to_remove){
                 let files_menu_path = file_name_id.childNodes[0].innerHTML
                 let path = Editor.files_menu_path_to_path(files_menu_path)
-                Editor.current_file_path = path //if I don't do this the next call to edit_file will think we're on new buffer and pop up the 3 choices dialog again.
+                Editor.current_file_path = false //path //if I don't do this the next call to edit_file will think we're on new buffer and pop up the 3 choices dialog again.
                 Editor.edit_file(path)
             }
         }
@@ -653,6 +729,14 @@ Editor.edit_file = function(path){ //path could be "new buffer"
                                  //so don't do the save in that condition.
                 Editor.save_current_file()
             }
+            else if(!persistent_get("save_on_eval")){
+                let cur_content = Editor.get_javascript()
+                let prev_content = read_file(Editor.current_file_path)
+                if(cur_content != prev_content) {
+                    let save_it = confirm("Before editing:\n" + path + "\nSave:\n" + Editor.current_file_path + " ?")
+                    if(save_it) { Editor.save_current_file() }
+                }
+            }
         }
         if (path == "new buffer"){ Editor.edit_file_aux(path, "")  }
         else {
@@ -817,6 +901,11 @@ Editor.save_to_dexter_as = function(){
     }
 }
 
+//on Jobs menu/insert_new_job
+Editor.insert_new_job = function(){
+    Editor.wrap_around_selection('new Job({\n    name: "my_job",\n    do_list: [\n        ',
+        '\n    ]\n})\n')
+}
 
 //replace selected text with new text.
 Editor.insert = function(text, insertion_pos="replace_selection", select_new_text=false){ //insertion_pos defaults to the current editor selection start.
@@ -1206,12 +1295,20 @@ Editor.select_call = function(full_src = Editor.get_javascript(), cursor_pos = E
         var fwd_nearest_delim_pos = Editor.find_forward_delimiter(full_src, cursor_pos)
         var delim_char = full_src[fwd_nearest_delim_pos]
         if (Editor.is_close_delimiter(delim_char)){
+            if((delim_char == "}") && (full_src[fwd_nearest_delim_pos + 1] == ")")) { //looks like the end of a keyword call, ie })
+                //so advance the delim char to the close paren
+                delim_char = ")"
+                fwd_nearest_delim_pos += 1
+            }
             start_and_end = Editor.find_call_start_end_from_end(full_src, fwd_nearest_delim_pos + 1)
         }
         else {
             var bwd_nearest_delim_pos = Editor.find_backward_delimiter(full_src, cursor_pos)
             var delim_char = full_src[bwd_nearest_delim_pos]
             if (Editor.is_open_delimiter(delim_char)){
+                if((delim_char == "{") && (full_src[bwd_nearest_delim_pos - 1] == "(")) { //looks like keyword call
+                    bwd_nearest_delim_pos -= 1
+                }
                 var close_delim = Editor.find_matching_delimiter(full_src, bwd_nearest_delim_pos)
                 if (close_delim == null) {return false}
                 else { start_and_end = Editor.find_call_start_end_from_end(full_src, close_delim + 1)}
@@ -1358,10 +1455,19 @@ Editor.find_call_start_end_from_end = function(full_src, cursor_pos){
                         var last_char_before_whitespace_pos = Editor.backup_over_whitespace(full_src, temp_cur - 1)
                         if (last_char_before_whitespace_pos &&
                             (last_char_before_whitespace_pos > 0)){
-                           var identifier_bounds = Editor.bounds_of_identifier(full_src, last_char_before_whitespace_pos)
-                           var id = full_src.substring(identifier_bounds[0], identifier_bounds[1])
-                           if (["else", "try"].indexOf(id) != -1){
-                               return [identifier_bounds[0], cursor_pos]
+                           let identifier_bounds = Editor.bounds_of_identifier(full_src, last_char_before_whitespace_pos)
+                           if(identifier_bounds){
+                            let id = full_src.substring(identifier_bounds[0], identifier_bounds[1])
+                            if (["else", "try"].indexOf(id) != -1){
+                                 return [identifier_bounds[0], cursor_pos]
+                            }
+                           }
+                           else {
+                              let last_char_before_whitespace = full_src[last_char_before_whitespace_pos]
+                              if(last_char_before_whitespace == "(") { //looks like we got the ({ of a keyword fn call
+                                 let end_paren_pos = Editor.find_matching_close(full_src, last_char_before_whitespace_pos)
+                                 return Editor.find_call_start_end_from_end(full_src, end_paren_pos + 1)
+                              }
                            }
                         }
                     }
@@ -1537,6 +1643,15 @@ Editor.find_backward_delimiter = function(full_src, cursor_pos){
     return result
 }
 
+//returns non-neg integer or null
+Editor.find_backward_open_delimiter = function(full_src, cursor_pos){
+    full_src = full_src.substring(0, cursor_pos)
+    full_src = reverse_string(full_src)
+    let result = Editor.find_forward_open_delimiter(full_src, 0) //could be null
+    if(typeof(result) == "number") { result = full_src.length - result - 1 }
+    return result
+}
+
 
 //does not bypass // comments.
 Editor.find_forward_open_delimiter = function(full_src, cursor_pos=0){
@@ -1635,7 +1750,7 @@ Editor.find_backwards_string = function(full_src, cursor_pos, string_to_find){
 
 //finds starting pos of occurance of string_to_find that's close to, but before cursor_pos.
 //skips over // comments
-//returns -1 if can't find string_to_find
+//returns null if can't find string_to_find
 Editor.find_backwards = function(full_src, cursor_pos, string_to_find){
     var pos = full_src.lastIndexOf(string_to_find, cursor_pos)
     if (pos == -1) { return null }
@@ -2122,21 +2237,201 @@ Editor.variable_info = function(identifier){
     return null
 }
 
-Editor.show_identifier_info = function(full_src=null, pos=null){
+//this is the potential 2nd line output for click_help saying what arg in what fn
+//was clicked on.
+//returns a string or undefined meaning no help.
+Editor.context_help = function(full_src, cursor_pos, identifier){
+    if(identifier == "new"){
+        let next_identifier_pos = Editor.skip_forward_over_whitespace(full_src, cursor_pos + 3)
+        let next_identifier_bounds = Editor.bounds_of_identifier(full_src, next_identifier_pos)
+        if(next_identifier_bounds) {
+            let next_identifier = full_src.substring(next_identifier_bounds[0], next_identifier_bounds[1])
+            let fn = value_of_path(next_identifier)
+            let next_identifier_html
+            if(fn) {
+                next_identifier_html = Editor.get_atag_for_fn_name(next_identifier, full_src, cursor_pos)
+            }
+            else { next_identifier_html = "<span style='color:blue;'>" + next_identifier +
+                                          "</span>, which is undefined."
+            }
+            return "<span style='color:blue;'>new " + next_identifier +
+                      "</span> makes an instance of the class " + next_identifier_html + "</span>"
+        }
+        else { return } //can't find any context help
+    }
+    else {
+        let [fn_name, arg_index] = Editor.find_arg_index(full_src, cursor_pos)
+        if(fn_name){
+            let result = "This is the " // "Context: "
+            let prefix
+            if(typeof(arg_index) == "number"){
+                result += ordinal_string(arg_index + 1)
+            }
+            else { result += "keyword" }
+            result += " argument"
+            let fn
+            if(fn_name.startsWith("new ")){
+                fn = value_of_path(fn_name.substring(4).trim())
+            }
+            else {
+                fn = value_of_path(fn_name)
+            }
+            if(fn){
+                let lit_obj = function_param_names_and_defaults_lit_obj(fn)
+                if(lit_obj){
+                    let fn_param_names = Object.keys(lit_obj)
+                    let param_name = ((typeof(arg_index) == "number") ?
+                        fn_param_names[arg_index] :
+                        arg_index)
+                    result += " (name: " + '"' + param_name + '"'
+                    let default_val_src = lit_obj[param_name]
+                    if(default_val_src) {
+                        result += ", default_value: " + default_val_src
+                    }
+                    else {result += ", default_value: undefined"}
+                    result += ")"
+                }
+            }
+            let outer_type = ""
+            if(fn_name.startsWith("new ")) { outer_type = "constructor: "}
+            else if(fn_name.includes(".")) { outer_type = "method: "}
+            else if(fn_name)               { outer_type = "function: "}
+            let suffix = ""
+            if(!fn) { suffix = ", which is undefined" }
+            let fn_name_html
+            let fn_name_prefix = ""
+            /* this screws up for "Job" and "Dexter" because get_atag_for_fn_name returns
+              their full args, not just a link to "Job" or "Dexter". so
+              for now, just print out Job and Dexter in plain text.
+              if(fn_name.startsWith("new ")){
+                fn_name_prefix = "new "
+                let short_fn_name = fn_name.substring(4).trim()
+                fn_name_html = Editor.get_atag_for_fn_name(short_fn_name, full_src, cursor_pos)
+            }*/
+            fn_name_html = Editor.get_atag_for_fn_name(fn_name, full_src, cursor_pos)
+            return result + " to " + outer_type + fn_name_prefix + fn_name_html + suffix + "."
+        }
+    }
+}
+
+
+// return array of fn_name, and
+// either the zero_based_arg_index non-neg_int, or string of the param name
+Editor.find_arg_index = function(full_src, cursor_pos){
+    let call_start_end = Editor.select_call(full_src, cursor_pos)
+    if(!call_start_end){ return [null, null] }
+    let open_delim_pos = Editor.find_forward_delimiter(full_src, call_start_end[0])
+    if(cursor_pos < open_delim_pos){ //user clicked on fn name, not between parens
+        let bwd_open_pos = Editor.find_backward_open_delimiter(full_src, call_start_end[0])
+        if((bwd_open_pos == null) || (bwd_open_pos < 0)) { return [null, null] }
+        else {
+            call_start_end = Editor.select_call(full_src, bwd_open_pos)
+            if(!call_start_end){ return [null, null] }
+            else if (call_start_end[1] < cursor_pos) { //the previous call ends before we get to cursor_pos, so we aren't in an OBVIOUS fn call, but neees work to fund unobvious ones
+                return [null, null]
+            }
+            else {
+                open_delim_pos = Editor.find_forward_delimiter(full_src, call_start_end[0])
+            }
+        }
+    }
+    let fn_name = full_src.substring(call_start_end[0], open_delim_pos).trim()
+    let char_after_open_paren = full_src[open_delim_pos + 1]
+    if(char_after_open_paren == "{") { //we've got a keyword call ie foo({bar: 12, baz:34})
+        let colon_pos
+        let identifier_at_cursor_bounds = Editor.bounds_of_identifier(full_src, cursor_pos)
+        if(identifier_at_cursor_bounds && (full_src[identifier_at_cursor_bounds[1]] == ":")) {
+            //user clicked IN a keyword
+            colon_pos = identifier_at_cursor_bounds[1] + 1
+        }
+        else { colon_pos = Editor.find_backwards(full_src, cursor_pos, ":") }
+        if(colon_pos){
+            let arg_name_bounds = Editor.bounds_of_identifier(full_src, colon_pos - 2)
+            if(arg_name_bounds) {
+                let arg_name = full_src.substring(arg_name_bounds[0], arg_name_bounds[1])
+                return [fn_name, arg_name]
+            }
+        }
+        else { return [null, null] }
+    }
+    else if(cursor_pos < open_delim_pos){ //user clicked on fn name, not between parens, so not on an arg
+        return [fn_name, null]
+    }
+    else {
+        let comma_pos = open_delim_pos
+        for(let i = 0; i < 1000; i++) {
+            comma_pos = Editor.find_forward_comma_at_level(full_src, comma_pos + 1)
+            if(!comma_pos) {
+                if(cursor_pos <= call_start_end[1]) { return [fn_name, i] }
+                else { return [null, null] } //shouldn't if full src is correct sytnax, but just in case it isn't
+            }
+            else if(comma_pos > cursor_pos) { return [fn_name, i] }
+        }
+    }
+    return [null, null]
+}
+
+//search forwards from pos for a comma, but ignore
+//commas inside of nested fn calls.
+Editor.find_forward_comma_at_level = function(full_src, cursor_pos){
+    for(let i = cursor_pos; i < full_src.length; i++){
+        let char = full_src[i]
+        if(char == ",") { return i }
+        else if("[({".includes(char)) {
+            let close_pos = Editor.find_matching_close(full_src, i)
+            if(close_pos) { i = close_pos }
+            else { return null }
+        }
+    }
+    return null
+}
+
+//return fn_name, or an atag wrapper arond fn_name to click on for more help
+Editor.get_atag_for_fn_name = function(fn_name, full_src, cursor_pos) {
+   let html_string = Js_info.get_info_string(fn_name, undefined, full_src, cursor_pos)
+   let pos_of_fn_name = html_string.indexOf(fn_name)
+   if (pos_of_fn_name == -1) { return fn_name } //no atag info so just return fn_name
+   else {
+       let atag_start = Editor.find_backwards(html_string,  html_string.length, "<a ")
+       if(typeof(atag_start) != "number") { return fn_name }
+       else {
+           let atag_end = html_string.indexOf("</a>")
+           if (atag_end == -1) { //shouldnt but just in case
+               return fn_name
+           }
+           else {
+               let tag_str = html_string.substring(atag_start, atag_end + 4)
+               return tag_str
+           }
+       }
+   }
+}
+//for click help on textarea's and input type ins. Used in Make Instruction textareas.
+Editor.show_identifier_info_for_type_in = function(event){
+    let full_src = event.target.value
+    let pos = event.target.selectionStart
+    Editor.show_identifier_info(full_src, pos)
+}
+
+Editor.show_identifier_info = function(full_src=Editor.get_javascript(), pos=Editor.selection_start()){
     var identifier = Editor.identifier_or_operator(full_src, pos)
     if (identifier){
-        var info = Js_info.get_info_string(identifier)
+        var info = Js_info.get_info_string(identifier, undefined, full_src, pos)
         /* this is now implemented in identifier_or_operator that returns a potential array with var, let and param into in it.
          if (!info){
             info = Editor.variable_info(identifier)
             if (info){ info = "<b>" + identifier + "</b> is " + info }
         }*/
         if (info){
+            let context_info = Editor.context_help(full_src, pos, identifier)
+            if(context_info)
+                info = info + "<br/>" + context_info
             out(info, null, true)
         }
     }
 }
 
+
 var {persistent_initialize, persistent_get, persistent_set, load_files, file_exists, write_file, dde_init_dot_js_initialize} = require('./core/storage.js')
 var {warning, decode_quotes, is_alphanumeric, is_digit, is_letter, is_letter_or_underscore,
      is_whitespace, reverse_string} = require("./core/utils.js")
diff --git a/examples/FindHome.js b/examples/FindHome.js
index 03a5e9ba..a53d6776 100644
--- a/examples/FindHome.js
+++ b/examples/FindHome.js
@@ -277,7 +277,7 @@ function handleWindowUI(vals){ //vals contains name-value pairs for each
        // persistent_get(vals.macro_name,function(val){db_fetch = val})
         /*Job.j1.user_data.choicemade = function ()
          							  { var rt = []
-                                        rt.push(Robot.wait_until(function(){return db_fetch}))
+                                        rt.push(Control.wait_until(function(){return db_fetch}))
                                         rt.push(function(){return replayPointsitr(db_fetch,1)})
                                         return rt                                        
                                       }*/
diff --git a/examples/opencv_locate_object.js b/examples/opencv_locate_object.js
index d24e2874..f1649017 100644
--- a/examples/opencv_locate_object.js
+++ b/examples/opencv_locate_object.js
@@ -3,7 +3,7 @@ This demo is an incomplete work-in-progress.
 If you want to use a different camera than your computer's built in default,
 1. Eval Picture.show_video_cameras()
 2. Copy the ID of the camera you want to use.
-3. Paste it in place of "webcam" in the below call to Robot.show_video
+3. Paste it in place of "webcam" in the below call to IO.show_video
    The pasted ID should be wrapped in quotes.
 */
 function locate_obj(){
@@ -31,7 +31,7 @@ function pick_up_obj(){
     out("moving dexter to: " + dex_x + ", " + dex_y)
     return [Dexter.move_to([dex_x, dex_y, this.user_data.take_pic_point[2]]), //move above obj
             Dexter.move_to([dex_x, dex_y, this.user_data.dexter_down_z]),     //move down to obj
-            Robot.wait_until(1),   //todo grab obj
+            Control.wait_until(1),   //todo grab obj
             Dexter.move_to([dex_x, dex_y, this.user_data.take_pic_point[2]]), //move up
             Dexter.move_to([0.5, dex_y, this.user_data.take_pic_point[2]])    //move away
             //todo drop object
@@ -42,16 +42,16 @@ new Job({name: "loc_obj",
     user_data: {dex_y_offset: 0.15,
                 take_pic_point: [0, (0.747 / 2) + 0.15, 0.3],
                 dexter_down_z: 0.05},
-    do_list: [Robot.show_video({content: "webcam", x: 600, y: 60}),
+    do_list: [IO.show_video({content: "webcam", x: 600, y: 60}),
               function() {return Dexter.move_to(this.user_data.take_pic_point)},
               Human.task({title: "Clear the Scene",
                     task: 'Take a "background" picture.',
                     x: 250, y: 60, height: 120, width: 330}),
-              Robot.take_picture({callback: "background_pic"}),
+              IO.take_picture({callback: "background_pic"}),
               Human.task({title: "Set the Scene",
                     task: "Place an object in view of the camera<br/>and take a foreground picture.",
                     x: 250, y: 60, height: 140, width: 330}),
-              Robot.take_picture({callback: "foreground_pic"}),
+              IO.take_picture({callback: "foreground_pic"}),
               locate_obj,
               function(){inspect(this.user_data.loc_obj)},
               pick_up_obj
diff --git a/examples/opencv_picture_similarity.js b/examples/opencv_picture_similarity.js
index 160928c6..9e50c3c3 100644
--- a/examples/opencv_picture_similarity.js
+++ b/examples/opencv_picture_similarity.js
@@ -3,22 +3,22 @@ Take two pictures and get their similarity score.
 If you want to use a different camera than your computer's built in default,
 1. Eval Picture.show_video_cameras()
 2. Copy the ID of the camera you want to use.
-3. Paste it in place of "webcam" in the below call to Robot.show_video
+3. Paste it in place of "webcam" in the below call to IO.show_video
    The pasted ID should be wrapped in quotes.
 */
 new Job({name: "pic_sim",
     user_data: {take_pic_point: [0, (0.747 / 2) + 0.15, 0.3]},
     do_list: [
-        Robot.show_video({content: "webcam", x: 600, y: 60}),
+        IO.show_video({content: "webcam", x: 600, y: 60}),
         function() {return Dexter.move_to(this.user_data.take_pic_point)},
         Human.task({title: "Take First Picture",
                     task: 'Click continue to snap the 1st picture.',
                     x: 250, y: 60, height: 120, width: 330}),
-        Robot.take_picture({callback: "background_pic"}),
+        IO.take_picture({callback: "background_pic"}),
         Human.task({title: "Take Second Picture",
                     task: "Click continue to snap the 2nd picture.",
                     x: 250, y: 60, height: 140, width: 330}),
-        Robot.take_picture({callback: "foreground_pic"}),
+        IO.take_picture({callback: "foreground_pic"}),
         function() {
                     let sim = Picture.mats_similarity_by_color( //mats_similarity_by_average_color, mats_similarity_by_detect_blobs
                         {mat_in1: this.user_data.background_pic,
diff --git a/index.html b/index.html
index ced639be..69796843 100644
--- a/index.html
+++ b/index.html
@@ -207,6 +207,7 @@
                                     <ul>
                                         <li id="new_id"     title="Make a new editor buffer.">New</li>
                                         <li id="open_id"    title="Edit an exiting file.">Open... Ctrl/&#8984;o</li>
+                                        <li id="open_system_file_id" title="Edit or show a special DDE/Dexter system file.">Open system file...</li>
                                         <li id="load_file_id"    title="Evaluate the content of a JavaScript file.">Load...</li>
                                         <li id="insert_file_id"  title="Insert the content of a file&#013;into the editor at the cursor,&#013;replacing the selection if any.">Insert file...</li>
                                         <li id="save_id"    title="Save the current file.">Save &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;Ctrl/&#8984;s</li>
@@ -231,6 +232,8 @@
                                         <li id="unfold_all_id" title="Uncompress all compressed statements.">Unfold All</li>
                                         <li id="select_expr_id" title="Select JS expressions, by&#013;Alt-clicking on their&#013;start, middle or end.&#013;On Mac: Option-click">Select expr alt-click</li>
                                         <li id="select_all_id" title="Select all the text in the Editor.">Select All Ctrl/&#8984;A</li>
+                                        <li id="indent_selection_id" title="Indent the selected code in the Editor.">Indent Sel shift-tab</li>
+
                                         <li id="animate_ui_id" title="If checked, some user interface operations&#013will change the display incrementally.&#013Unchecked is faster.">
                                             <div style='float: left; margin-right: 5px;' id='animate_ui_checkbox_id'></div>
                                             Animate UI
@@ -242,20 +245,24 @@
                                     <ul>
                                        <li id="learn_js_help_id">Help</li>
                                         <li id="js_example_1_id" title="Example of a small JavaScript program.&#013;Good for a refresher course or quick learners.">JavaScript Example</li>
-                                        <li>User Interaction
-                                            <ul><li id="alert_id"   title="Pause JS and show user a dialog with a message.">alert("Hi.")</li>
-                                                <li id="confirm_id" title="Pause JS and show user a message to OK.">confirm("Do it?")</li>
-                                                <li id="prompt_id"  title="Pause JS and show user a dialog to get a string.">prompt("Price?", "$1")</li>
+                                        <li  title="">Comments
+                                            <ul>
+                                                <li id="comment_out_id"  title="Place the selected text in a comment&#013;so it won't be evaled.">Comment out selection</li>
+                                                <li id="comment_eol_id"  title="Comment out from cursor to end of line&#013;so it won't be evaled.">Comment to end of line</li>
                                             </ul>
                                         </li>
-                                        <li                      title="">Debugging, etc.
+                                        <li title="">Debugging
                                             <ul>
                                                 <li id="dev_tools_id"    title="Show instructions for&#013;seeing console.log output and&#013;using debugger; breakpoints.">Help</li>
                                                 <li id="console_log_id"  title="Prints complex data into the Chrome console. Click right anywhere in DDE and &#013;choose 'Inspect' to see it.&#013;out(...) prints to Output pane.">console.log(...)</li>
                                                 <li id="debugger_id"     title="Inserts a breakpoint in any JS code&#013;Click right and choose 'Inspect Element' &#013;to enable stepping.">debugger;</li>
-                                                <li id="debugger_instruction_id" title="Insert a Robot.debugger()&#013;instruction in a do list&#013;which pauses a job&#013;and allows you to step through its instructions.">Robot.debugger()</li>
-                                                <li id="comment_out_id"  title="Place the selected text in a comment&#013;so it won't be evaled.">Comment out selection</li>
-                                                <li id="comment_eol_id"  title="Comment out from cursor to end of line&#013;so it won't be evaled.">Comment to end of line</li>
+                                                <li id="debugger_instruction_id" title="Insert a Control.debugger()&#013;instruction in a do list&#013;which pauses a job&#013;and allows you to step through its instructions.">Control.debugger()</li>
+                                            </ul>
+                                        </li>
+                                        <li>User Interaction
+                                            <ul><li id="alert_id"   title="Pause JS and show user a dialog with a message.">alert("Hi.")</li>
+                                                <li id="confirm_id" title="Pause JS and show user a message to OK.">confirm("Do it?")</li>
+                                                <li id="prompt_id"  title="Pause JS and show user a dialog to get a string.">prompt("Price?", "$1")</li>
                                             </ul>
                                         </li>
                                         <li             title="boolean logic">true &amp; false
@@ -595,24 +602,25 @@
                                             <div style='float: left; margin-right: 5px;' id='real_time_sim_checkbox_id'></div>
                                             Real time sim
                                         </li>-->
+                                        <li id="insert_new_job_id" title="Insert into the editor, an empty new Job.">New Job Ctrl/&#8984;j</li>
                                         <li> Insert Example
                                             <ul>
-                                                <li id="insert_job_example0_id" title="Insert into the editor a 1 instruction Job definition.">0. Simplest</li>
-                                                <li id="insert_job_example1_id" title="Insert into the editor an example of defining a simple job.">1. Simple</li>
-                                                <li id="insert_job_example2_id" title="Insert into the editor a simple Dexter-moving Job.">2. Dexter-moving</li>
-
-                                                <li id="insert_job_example3_id" title="Insert into the editor a job with function call instructions.">3. Dexter & Fns</li>
-                                                <li id="insert_job_example4_id" title="Insert into the editor examples of defining 3 complex jobs using generators.">4. Generators</li>
-                                                <li id="insert_job_example5_id" title="Insert into the editor examples of defining jobs that interact with other jobs.">5. Sync Jobs</li>
-                                                <li id="insert_job_example6_id" title="Insert into the editor examples of defining a job that gets user input while running.">6. User Input</li>
-                                                <li id="insert_job_example7_id" title="Insert into the editor examples of using a human 'robot'.">7. Human Instrs</li>
-                                                <li id="insert_job_example8_id" title="Insert into the editor a job containing&#013;Human.enter_instruction.">8. Enter Instruction</li>
-                                                <li id="insert_job_example9_id" title="Insert into the editor a tutorial on using Asynchronous Functions.">9. Async Fns</li>
-                                                <li id="insert_job_example10_id" title="Insert into the editor a tutorial on using Serial Port.">10. Serial Port</li>
-                                                <li id="insert_job_example11_id" title="Insert into the editor a tutorial on using&#013;when_stopped for looping a job, etc.">11. when_stopped</li>
-                                                <li id="insert_job_example12_id" title="Insert into the editor a tutorial on using&#013;Robot.go_to instruction for looping a job.">12. Robot.go_to</li>
-                                                <li id="insert_job_example13_id" title="Insert into the editor a tutorial on using&#013;loops in a job.">13. Robot.loop</li>
-                                                <li id="insert_job_example14_id" title="Insert into the editor a tutorial on using&#013;A TestSuite in a job.">14. TestSuite in Job</li>
+                                                <li id="insert_job_example0_id" title="Insert into the editor, a 1 instruction Job definition.">0. Simplest</li>
+                                                <li id="insert_job_example1_id" title="Insert into the editor, an example of defining a simple job.">1. Simple</li>
+                                                <li id="insert_job_example2_id" title="Insert into the editor, a simple Dexter-moving Job.">2. Dexter-moving</li>
+
+                                                <li id="insert_job_example3_id" title="Insert into the editor, a job with function call instructions.">3. Dexter & Fns</li>
+                                                <li id="insert_job_example4_id" title="Insert into the editor, examples of defining 3 complex jobs using generators.">4. Generators</li>
+                                                <li id="insert_job_example5_id" title="Insert into the editor, examples of defining jobs that interact with other jobs.">5. Sync Jobs</li>
+                                                <li id="insert_job_example6_id" title="Insert into the editor, examples of defining a job that gets user input while running.">6. User Input</li>
+                                                <li id="insert_job_example7_id" title="Insert into the editor, examples of using a human 'robot'.">7. Human Instrs</li>
+                                                <li id="insert_job_example8_id" title="Insert into the editor, a job containing&#013;Human.enter_instruction.">8. Enter Instruction</li>
+                                                <li id="insert_job_example9_id" title="Insert into the editor, a tutorial on using Asynchronous Functions.">9. Async Fns</li>
+                                                <li id="insert_job_example10_id" title="Insert into the editor, a tutorial on using Serial Port.">10. Serial Port</li>
+                                                <li id="insert_job_example11_id" title="Insert into the editor, a tutorial on using&#013;when_stopped for looping a job, etc.">11. when_stopped</li>
+                                                <li id="insert_job_example12_id" title="Insert into the editor, a tutorial on using&#013;Control.go_to instruction for looping a job.">12. Control.go_to</li>
+                                                <li id="insert_job_example13_id" title="Insert into the editor, a tutorial on using&#013;loops in a job.">13. Control.loop</li>
+                                                <li id="insert_job_example14_id" title="Insert into the editor, a tutorial on using&#013;A TestSuite in a job.">14. TestSuite in Job</li>
 
                                             </ul>
                                         </li>
diff --git a/job_examples.js b/job_examples.js
index 7926806a..1e479339 100644
--- a/job_examples.js
+++ b/job_examples.js
@@ -1,7 +1,9 @@
 /* Created by Fry on 3/11/16.*/
 var job_examples = [
-`new Job({name: "my_job",
-         do_list: [Dexter.move_all_joints([30, 45, 60, 90, 120])]})
+`new Job({
+    name: "my_job",
+    do_list: [
+        Dexter.move_all_joints([30, 45, 60, 90, 120])]})
 `,
 
 `//////// Job Example 1
@@ -13,9 +15,12 @@ var job_examples = [
 //holding down the 'alt' key and clicking on 'new'.
 //This will select the Job definition.
 //With that selected, click the Eval button.
-new Job({name: "my_job",
-         do_list: [Robot.out("first instruction"), //will cause 'first instruction' to be printed in output pane when run
-                   function(){out("2nd instruction")}]}) //This function will be called
+new Job({
+    name: "my_job",
+    do_list: [
+        IO.out("first instruction"),  //will cause 'first instruction' to be printed in output pane when run
+        function(){out("2nd instruction")} //This function will be called
+    ]}) 
    
 //Now click the Output pane's Clear button.
 //Hold down the 'alt' key and click on 'my_job'
@@ -37,12 +42,15 @@ Beware, the 2nd and 3rd args to move_to determine the ending
 J5_direction and which way the joints go. 
 These are tricky to get right.
 */
-new Job({name: "j2",
-        do_list: [Dexter.move_all_joints([0, 0, 0, 0, 0]), //angles
-                  Dexter.move_to([0, 0.5, 0.075],     //xyz
-                                 [0, 0, -1],          //J5_direction
-                                 Dexter.RIGHT_UP_OUT) //config
-                 ]})
+new Job({
+    name: "j2",
+    do_list: [
+        Dexter.move_all_joints([0, 0, 0, 0, 0]), //angles
+        Dexter.move_to(
+            [0, 0.5, 0.075],     //xyz
+            [0, 0, -1],          //J5_direction
+            Dexter.RIGHT_UP_OUT) //config
+    ]})
 //After defining this Job by clicking the EVAL button,
 //click this job's button in the Output pane's header to start it.
 `,
@@ -59,18 +67,21 @@ function move_once(){
     return Dexter.move_all_joints([0, 45, 90, -45, 0]) //also try: Dexter.move_to([100000, 200000, 300000])
 }
 function sleep_and_move(){
-    return [Dexter.move_all_joints([0, 0, 135, 45, 0]),
-            Dexter.sleep(2),
-            Dexter.move_to([0, 0.5, 0.075], [0, 0, -1], Dexter.RIGHT_UP_OUT)
-           ]
+    return [
+        Dexter.move_all_joints([0, 0, 135, 45, 0]),
+        Dexter.sleep(2),
+        Dexter.move_to([0, 0.5, 0.075], [0, 0, -1], Dexter.RIGHT_UP_OUT)
+    ]
 }
-new Dexter({name: "my_dex",
-            simulate: null //simulate is null by default, giving control to the Jobs menu item 'Simulate?'
-           })
-new Job({name: "j3",
-         robot: Robot.my_dex, //assigns a robot to this job
-         do_list: [move_once, sleep_and_move]} //use the above function definitions as do_list items
-)
+new Dexter({
+    name: "my_dex",
+    simulate: null //simulate is null by default, giving control to the Jobs menu item 'Simulate?'
+})
+new Job({
+    name: "j3",
+    robot: Robot.my_dex, //assigns a robot to this job
+    do_list: [move_once, sleep_and_move] //use the above function definitions as do_list items
+})
 /* Job.j3                    //the newly created Job instance
  Job.j3.status_code
  Job.j3.robot.joint_angles() //array of 5 angles, each in arcseconds
@@ -105,8 +116,10 @@ function* complex_gen(){
         yield Dexter.move_all_joints([i * 10])
     }
 }
-new Job({name: "jb",
-         do_list: [complex_gen]})
+new Job({
+    name: "jb",
+    do_list: [complex_gen]
+})
 
 //________Job Example 4c: Nested Generators
 function* nested_gen(){
@@ -116,15 +129,16 @@ function* nested_gen(){
     }
     yield Dexter.sleep(1)
 }
-new Job({name: "jc", 
-         do_list: [nested_gen]})
-         
+new Job({
+    name: "jc", 
+    do_list: [nested_gen]
+})        
 //________Job Example 4d: yield and return examples
 function* yield_and_return_gen(){
     yield  //don't execute any new instruction but keep generator alive
     yield  null //don't execute any new instruction but keep generator alive
-    yield  Robot.out("gen still alive") //run Robot.out and keep generator alive
-    return Robot.out("last gen instruction") //run Robot.out and kill generator
+    yield  IO.out("gen still alive") //run IO.out and keep generator alive
+    return IO.out("last gen instruction") //run IO.out and kill generator
     return //don't execute any new instruction and kill generator. 
            //note this line will not actually be executed in this context
            //because the preceeding 'return' kills the generator.
@@ -137,17 +151,23 @@ new Job({name: "jd", do_list: [yield_and_return_gen]})
 //The sync_point control instruction causes a job
 //to wait until all the other jobs with the same
 //sync_point name (i.e. "midway") reach that sync point.
-new Job({name: "job_a",
-         do_list: [Robot.out("hello"),
-                   Robot.sync_point("midway", ["job_a", "job_b"]),
-                   Robot.out("goodbye")]})
-
-new Job({name: "job_b",
-         robot: new Brain({name: "brain1"}),
-         do_list: [Robot.out("hello"),
-                   Robot.wait_until(10),
-                   Robot.sync_point("midway", ["job_a", "job_b"]),
-                   Robot.out("goodbye")]})
+new Job({
+    name: "job_a",
+    do_list: [
+        IO.out("hello"),
+        Control.sync_point("midway", ["job_a", "job_b"]),
+        IO.out("goodbye")
+    ]})
+
+new Job({
+    name: "job_b",
+    robot: new Brain({name: "brain1"}),
+    do_list: [
+        IO.out("hello"),
+        Control.wait_until(10),
+        Control.sync_point("midway", ["job_a", "job_b"]),
+        IO.out("goodbye")
+    ]})
 Job.job_a.start(); Job.job_b.start() //execute both at once.
 //job_a will wait at its "midway" point until job_b gets to 
 //its "midway" point, then they both proceed.
@@ -159,22 +179,28 @@ Job.job_a.start(); Job.job_b.start() //execute both at once.
 // as well as pause (suspend) and resume (unsuspend) jobs.
 
 new Dexter({name: "my_dex", ip_address: "192.168.1.142", port: 50000})
-new Job({name: "j4", 
-         robot: Robot.my_dex,
-         do_list: [Dexter.move_all_joints([0, 45, 90, -45, 0]),
-                   Robot.suspend(), //j5 will unsuspend this
-                   Robot.out("j4 sez goodbye.")]})
+new Job({
+    name: "j4", 
+    robot: Robot.my_dex,
+    do_list: [
+        Dexter.move_all_joints([0, 45, 90, -45, 0]),
+        Control.suspend(), //j5 will unsuspend this
+        IO.out("j4 sez goodbye.")
+    ]})
 Job.j4.start()
 
 new Dexter({name: "my_dex2", ip_address: "192.168.1.143", port: 50000})
-new Job({name: "j5", 
-         robot: Robot.my_dex2,
-         do_list: [Robot.send_to_job(
-                     {do_list_item: Dexter.move_to([0.1, 0.2, 0.3]),
-                      where_to_insert: {job: "j4", offset: "after_program_counter"},
-                      unsuspend: true,
-                      wait_until_done: true}),
-                   Robot.out("j5 sez goodbye.")]})
+new Job({
+    name: "j5", 
+    robot: Robot.my_dex2,
+    do_list: [
+        Control.send_to_job(
+            do_list_item: Dexter.move_to([0.1, 0.2, 0.3]),
+            where_to_insert: {job: "j4", offset: "after_program_counter"},
+            unsuspend: true,
+            wait_until_done: true}),
+            IO.out("j5 sez goodbye.")
+    ]})
 Job.j5.start()
 
 ////////Job Example 5c: Instructing another job and getting its data
@@ -190,34 +216,43 @@ new Job({name: "j6", robot: new Dexter(), do_list: []})
 //we'll let j7 start j6
 
 //Now for our requesting job:
-new Job({name: "j7",
-         do_list: [Robot.send_to_job({
-                   do_list_item: Dexter.move_all_joints([0, 0, 135, 45, 0]),
-                   where_to_insert: {job: "j6", offset: "program_counter"},
-                   start: true, //starts j6
-                   wait_until_done: true,
-                   status_variable_name: "that_j6_task",
-                   //and any number of values you want to get from j6
-                   j6_joint_5_pos: function(){return this.robot.joint_xyz(5)},
-                   j6_angle_number_2: function(){return this.robot.joint_angle(2)}
-                   })]})
+new Job({
+    name: "j7",
+    do_list: [
+        Control.send_to_job({
+            do_list_item: Dexter.move_all_joints([0, 0, 135, 45, 0]),
+            where_to_insert: {job: "j6", offset: "program_counter"},
+            start: true, //starts j6
+            wait_until_done: true,
+            status_variable_name: "that_j6_task",
+            //and any number of values you want to get from j6
+            j6_joint_5_pos: function(){return this.robot.joint_xyz(5)},
+            j6_angle_number_2: function(){return this.robot.joint_angle(2)}
+        })]})
 Job.j7.start()
 /* Job.j7.user_data.j6_joint_5_pos and
    Job.j7.user_data.j6_angle_number_2 both
    contain info snatched from job j6.
-If you use Robot.send_to_job({where_to_insert: {job: "to_job", offset: "end"},
-                              wait_until_done: true, ...}
+If you use 
+Control.send_to_job({
+    where_to_insert: {job: "to_job", offset: "end"},
+    wait_until_done: true, 
+    ...
+}
 then the job with the sent_to_job instruction will wait until
 the whole of the to_job is done before proceeding                           
 */
 
 ////// Job Example 5d: Prepending to the do_list when calling start.
 
-new Job({name: "j8",
-          do_list: [Robot.out("first instruction"),
-                    Robot.out("2nd instruction")]})
+new Job({
+    name: "j8",
+    do_list: [
+        IO.out("first instruction"),
+        IO.out("2nd instruction")
+    ]})
                 
-Job.j8.start({initial_instruction: Robot.out("special insert")})            
+Job.j8.start({initial_instruction: IO.out("special insert")})            
 `,
 
 
@@ -256,16 +291,17 @@ function print_job_1_dialog(){
 }
 
 new Job({name: "print_job_1", robot: new Dexter(),
-    do_list:
-    [Dexter.move_all_joints([0, 45, 90, -45, 0]),
-     function(){print_job_1_dialog()},
-     Robot.wait_until(function(){return this.user_data.color_status != undefined}),
-     function(){if (this.user_data.color_status == "cancel"){
-                    return Robot.error("ran out of filament.")
-                   }
-                else {return null}
-               },
-     Dexter.move_all_joints( [0, 0, 135, 45, 0 ])
+    do_list:[
+        Dexter.move_all_joints([0, 45, 90, -45, 0]),
+        function(){print_job_1_dialog()},
+        Control.wait_until(function(){return this.user_data.color_status != undefined}),
+        function(){
+            if (this.user_data.color_status == "cancel"){
+                return Control.error("ran out of filament.")
+            }
+            else {return null}
+        },
+        Dexter.move_all_joints([0, 0, 135, 45, 0 ])
     ]})
 Job.print_job_1.start()
 // Job.print_job_1.user_data  //data set by the dialog
@@ -275,91 +311,115 @@ Job.print_job_1.start()
 `//////// Job Example 7a: Using a human 'robot' cooperating with a Brain robot
 //Jobs may contain instructions for human operators as well as robots,
 //facilitating well-coordinated human-machine processes.
-new Job({name: "lots_of_options_task",
-         robot: new Dexter(),
-         do_list: [Human.task({task: "Load more filament.",
-                               title: "Pay Attention!!!",
-                               x: 0,
-                               y: 0,
-                               width: 600,
-                               height: 150,
-                               background_color: "rgb(230, 200, 250)"
-                             }), //waits until user clicks 'Done'.
-                    Dexter.move_to([0, 0.5, 0.075])
-                ]})                           
+new Job({
+    name: "lots_of_options_task",
+    robot: new Dexter(),
+    do_list: [
+        Human.task({
+            task: "Load more filament.",
+            title: "Pay Attention!!!",
+            x: 0,
+            y: 0,
+            width: 600,
+            height: 150,
+            background_color: "rgb(230, 200, 250)"
+        }), //waits until user clicks 'Done'.
+        Dexter.move_to([0, 0.5, 0.075])
+    ]})                           
 Job.lots_of_options_task.start()
 
 //////// Job Example 7b: Dependent Jobs
-new Job({name: "dependent_job", //robot type defaults to Brain
-    do_list: [Robot.sync_point("load_filament", ["my_job"]),
-              Robot.out("dependent_job last instruction")]})
-
-new Job({name: "my_job", robot: new Human({name: "Joe Jones"}),
-    do_list: [Human.task({task: "Load more filament.",
-                          height: 150,
-                          dependent_job_names: ["dependent_job"]}), //this optional arg
-                    //lists jobs to be stopped if user clicks
-                    //"Stop Job" button.
-              Robot.sync_point("load_filament"),
-              Robot.out("my_job last instruction")]})
+new Job({
+    name: "dependent_job", //robot type defaults to Brain
+    do_list: [
+        Control.sync_point("load_filament", ["my_job"]),
+        IO.out("dependent_job last instruction")
+    ]})
+
+new Job({
+    name: "my_job", robot: new Human({name: "Joe Jones"}),
+    do_list: [
+        Human.task({
+            task: "Load more filament.",
+            height: 150,
+            dependent_job_names: ["dependent_job"]
+        }), //this optional arg
+            //lists jobs to be stopped if user clicks
+            //"Stop Job" button.
+        Control.sync_point("load_filament"),
+        IO.out("my_job last instruction")
+    ]})
 
 Job.dependent_job.start(); Job.my_job.start() //start both at once
 
 
 //////// Job Example 7c: human chooses material from list
-new Job({name: "material_job", robot: new Human({name: "Joe Jones"}),
-    do_list: [Human.enter_choice({
-                 task: "Which material should we use?",
-                 user_data_variable_name: "material_choice", // user_data variable to store choice
-                 choices: ["copper", "silver", "gold"],
-                 show_choices_as_buttons: false, // the default, which shows choices as menu items
-                 one_button_per_line: false,     // the default. relevant when showing buttons only
-                 dependent_job_names: []}),      // [] means no dependent jobs.
-              Robot.out("material_job last instruction")
-              ]})
+new Job({
+    name: "material_job", robot: new Human({name: "Joe Jones"}),
+    do_list: [
+        Human.enter_choice({
+            task: "Which material should we use?",
+            user_data_variable_name: "material_choice", // user_data variable to store choice
+            choices: ["copper", "silver", "gold"],
+            show_choices_as_buttons: false, // the default, which shows choices as menu items
+            one_button_per_line: false,     // the default. relevant when showing buttons only
+            dependent_job_names: []
+        }),      // [] means no dependent jobs.
+        IO.out("material_job last instruction")
+    ]})
 Job.material_job.start()
 // Job.material_job.user_data
 
 //////// Job Example 7d: human enters a number
-new Job({name: "number_job",
+new Job({
+    name: "number_job",
     robot: new Human({name: "Joe Jones"}),
-    do_list: [Human.enter_number({
-        task: "How many millimeters long should we make the pipe?",
-        user_data_variable_name: "pipe_length", // user_data variable to store the number
-        initial_value: 15,
-        min: 10,
-        max: 1000,
-        step: 1,
-        dependent_job_names: []}), // [] means no dependent jobs.
-        Robot.out("number_job last instruction")]})
+    do_list: [
+        Human.enter_number({
+            task: "How many millimeters long should we make the pipe?",
+            user_data_variable_name: "pipe_length", // user_data variable to store the number
+            initial_value: 15,
+            min: 10,
+            max: 1000,
+            step: 1,
+            dependent_job_names: [] // [] means no dependent jobs.
+        }), 
+        IO.out("number_job last instruction")
+    ]})
 Job.number_job.start()
 // Job.number_job.user_data
 
 //////// Job Example 7e: human enters text
-new Job({name: "text_job",
+new Job({
+    name: "text_job",
     robot: new Human({name: "Joe Jones"}),
-    do_list: [Human.enter_text({
+    do_list: [
+        Human.enter_text({
         task: "Describe how this job is going.",
         user_data_variable_name: "job_description", // user_data variable to store the text
         initial_value: "OK",
         line_count: 3,
         dependent_job_names: []}), // [] means no dependent jobs.
-        Robot.out("text_job last instruction")]})
+        IO.out("text_job last instruction")
+    ]})
 Job.text_job.start()
 // Job.text_job.user_data
 
 //////// Job Example 7f: Notify
 //Tell human something without pausing execution.
-new Job({name: "notify_job",
+new Job({
+    name: "notify_job",
     robot: new Human({name: "Joe Jones"}),
-    do_list: [Human.notify({
-        task: "Take off work early today!",
-        window: true,      //the default
-        output_pane: true, //the default
-        beep_count: 0,     //the default
-        speak: false       //the default
+    do_list: [
+        Human.notify({
+            task: "Take off work early today!",
+            window: true,      //the default
+            output_pane: true, //the default
+            beep_count: 0,     //the default
+            speak: false       //the default
         }),
-        Robot.out("text_job last instruction")]})
+        IO.out("text_job last instruction")
+    ]})
 Job.notify_job.start()
 `,
 
@@ -372,12 +432,14 @@ Job.notify_job.start()
 //go as in 'training'.
 new Dexter({name: "my_dex", ip_address: "192.168.1.142", port: 50000})
 
-new Job({name: "my_job",
+new Job({
+    name: "my_job",
     robot: Robot.my_dex,
-    do_list: [function(){out("first instruction")}, //will cause 'first instruction' to be printed in output pane when run
+    do_list: [
+        function(){out("first instruction")}, //will cause 'first instruction' to be printed in output pane when run
         Human.enter_instruction(), // Pops up a dialog requesting user input of an instruction.
-        Robot.out("last instruction")]})
-
+        IO.out("last instruction")
+    ]})
 Job.my_job.start()
 `,
 
@@ -451,8 +513,10 @@ function my_waiting_beeper(){
  my_waiting_beeper function as regular do_list items, 
  without the hair of the sequencing
  callback code buried in my_waiting_beeper */
-new Job({name: "my_job",
-    do_list: [my_waiting_beeper, my_waiting_beeper]})
+new Job({
+    name: "my_job",
+    do_list: [my_waiting_beeper, my_waiting_beeper]
+})
 Job.my_job.start()
 /* In our do_list we can have as many calls to my_waiting_beeper
  as we like, and they don't have to be contigous.
@@ -466,7 +530,8 @@ function my_waiting_chording_beeper(){
     return "dont_call_set_up_next_do"
 }
 
-new Job({name: "my_job",
+new Job({
+    name: "my_job",
     do_list: [my_waiting_chording_beeper,
         my_waiting_chording_beeper,
         my_waiting_beeper,
@@ -506,27 +571,26 @@ var ard_path = last(serial_devices()).comName // something like:
 /*
 #define LED 13
 void setup() {
-  Serial.begin(9600);
-  pinMode(LED, OUTPUT);
-  digitalWrite(LED, LOW);  // Turn LED off
+    Serial.begin(9600);
+    pinMode(LED, OUTPUT);
+    digitalWrite(LED, LOW);  // Turn LED off
 }
 //from http://www.fabiobiondi.com/blog/2014/02/html5-chrome-packaged-apps-and-arduino-bidirectional-communication-via-serial/
 int incomingByte = 0;
 void loop() {
-  // Check if there's a serial message waiting.
-  if (Serial.available() > 0) { //read the incoming byte.
-    incomingByte = Serial.read();
-
-    if (incomingByte == 'y') {
-      digitalWrite(LED, HIGH); //turn on LED
-      Serial.println("LED on");  //return this string to DDE
-    } 
-    else if (incomingByte == 'n') { //trun off LED
-      digitalWrite(LED, LOW);
-      Serial.println("LED off");
+    // Check if there's a serial message waiting.
+    if (Serial.available() > 0) { //read the incoming byte.
+        incomingByte = Serial.read();
+        if (incomingByte == 'y') {
+            digitalWrite(LED, HIGH); //turn on LED
+            Serial.println("LED on");  //return this string to DDE
+        } 
+        else if (incomingByte == 'n') { //trun off LED
+            digitalWrite(LED, LOW);
+            Serial.println("LED off");
+        }
     }
-  }
-  delay(1000);
+    delay(1000);
 }
 */
 //Save this as an Arduino Sketch in led_y_or_n.ino  
@@ -567,25 +631,28 @@ serial_send_low_level(read_file("some_arduino_file.ino.hex"), ard_path)
 //and click the right arrow to upload your Arduino code manually.
 
 //_________serial job_______  
-new Serial({name: "S1", simulate: null, 
-			sim_fun: function(input){ 
-                        return "got: " + input + "\\n"
-                     },
-            path: ard_path, 
-            connect_options: {baudRate: 300},
-            capture_n_items: 1, 
-            parse_items: true}
-)
+new Serial({
+    name: "S1", simulate: null, 
+	sim_fun: function(input){ 
+        return "got: " + input + "\\n"
+    },
+    path: ard_path, 
+    connect_options: {baudRate: 300},
+    capture_n_items: 1, 
+    parse_items: true
+})
 
 //with the default robot being a serial robot.
-new Job({name: "j10a",
-         robot: Robot.S1,
-         do_list: [Serial.string_instruction("y"),
-                   Robot.grab_robot_status("yes_result"),
-                   Robot.wait_until(2),
-                   Serial.string_instruction("n"),
-                   Robot.grab_robot_status("no_result", Serial.DATA0)
-                   ]}
+new Job({
+    name: "j10a",
+    robot: Robot.S1,
+    do_list: [
+        Serial.string_instruction("y"),
+        Control.grab_robot_status("yes_result"),
+        Control.wait_until(2),
+        Serial.string_instruction("n"),
+        Control.grab_robot_status("no_result", Serial.DATA0)
+    ]}
 )
 Job.j10a.start()
 
@@ -593,14 +660,16 @@ Job.j10a.user_data //all the user data
 Job.j10a.user_data.yes_result //just our yes_result
 
 //with each serial and grab robot_status instruction having a robot.
-new Job({name: "j10b",
-         robot: new Brain(), //Robot.S1,
-         do_list: [Robot.S1.string_instruction("y"),
-                   Robot.S1.grab_robot_status("yes_result"),
-                   Robot.wait_until(2),
-                   Robot.S1.string_instruction("n"),
-                   Robot.S1.grab_robot_status("no_result", Serial.DATA0)
-                   ]}
+new Job({
+    name: "j10b",
+    robot: new Brain(), //Robot.S1,
+    do_list: [
+        Serial.S1.string_instruction("y"),
+        Serial.S1.grab_robot_status("yes_result"),
+        Control.wait_until(2),
+        Serial.S1.string_instruction("n"),
+        Serial.S1.grab_robot_status("no_result", Serial.DATA0)
+    ]}
 )
 `,
 
@@ -615,188 +684,250 @@ wait for another instruction, loop, or call a callback function.
 //Click the Job's button in the Output pane header to stop it.
 new Job({name: "job_ws1", 
          when_stopped: "wait",
-         do_list: [Robot.out("hey")]})
+         do_list: [IO.out("hey")]})
 Job.job_ws1.start()
 //Select and eval the below to add an instruction to the started job_ws1
-Job.insert_instruction(Robot.out("you2"), {job: "job_ws1", offset: "end"})
+Job.insert_instruction(IO.out("you2"), {job: "job_ws1", offset: "end"})
 //You can do this as many times as you like.
 //Click the Job's button to stop it or Eval:
-Job.insert_instruction(Robot.stop_job(), {job: "job_ws1", offset: "end"})
+Job.insert_instruction(Control.stop_job(), {job: "job_ws1", offset: "end"})
          
 //______job_ws2_____You can even avoid a do_list completely.
-new Job({name: "job_ws2", 
-         when_stopped: "wait"})
+new Job({
+    name: "job_ws2", 
+    when_stopped: "wait"
+})
 Job.job_ws2.start()
 //Eval the below to add and run an instruction:
-Job.insert_instruction(Robot.out("joe1"), {job: "job_ws2", offset: "end"})
+Job.insert_instruction(IO.out("joe1"), {job: "job_ws2", offset: "end"})
 
 
 //______job_ws3______Call a callback function when the job finishes
-new Job({name: "job_ws3", 
-         when_stopped: function(){out("I've had it.")},
-         do_list: [Robot.out("I'm running.")]})
+new Job({
+    name: "job_ws3", 
+    when_stopped: function(){out("I've had it.")},
+    do_list: [IO.out("I'm running.")]
+})
 
 //______job_ws4______Call a callback function when the job finishes
 //but also perform the when_stopped action due to stop_job's 3rd (true) arg.
-new Job({name: "job_ws4", 
-         when_stopped: function(){out("I'm dead.")},
-         do_list: [Robot.out("I'm alive."),
-                   Robot.stop_job("program_counter", "because I said so", true),
-                   Robot.out("I'm not run.") //not reached
-                 ]})
+new Job({
+    name: "job_ws4", 
+    when_stopped: function(){out("I'm dead.")},
+    do_list: [
+        IO.out("I'm alive."),
+        Control.stop_job("program_counter", "because I said so", true),
+        IO.out("I'm not run.") //not reached
+    ]})
          
 //______job_ws5______Infinite Loop
-new Job({name: "job_ws5", 
-         when_stopped: 0, //when its done, restart job at instruction 0 
-         do_list: [function(){
-                      if(Job.global_user_data.counter) {
-                          Job.global_user_data.counter += 1
-                      }
-                      else { Job.global_user_data.counter = 1 }
-                      out("counter = " + Job.global_user_data.counter)
-                    },
-                    Robot.wait_until(2)]}) //sleep for 2 seconds
+new Job({
+    name: "job_ws5", 
+    when_stopped: 0, //when its done, restart job at instruction 0 
+    do_list: [
+        function(){
+            if(Job.global_user_data.counter) {
+                Job.global_user_data.counter += 1
+            }
+            else { 
+                Job.global_user_data.counter = 1
+            }
+            out("counter = " + Job.global_user_data.counter)
+        },
+        Control.wait_until(2)
+    ]}) //sleep for 2 seconds
 `,
 
 `////Job Example 12: go_to
 //12a: initialize user data and display it
-new Job({name: "my_job",
+new Job({
+    name: "my_job",
     user_data: {some_val: 0},
     do_list: [function() { out("val: " + this.user_data.some_val)}
     ]})
 
 //12b: set user data from user input
-new Job({name: "my_job",
+new Job({
+    name: "my_job",
     user_data: {some_val: 0},
-    do_list: [Human.enter_number({user_data_variable_name: "some_val"}),
+    do_list: [
+        Human.enter_number({user_data_variable_name: "some_val"}),
         function() { out("val: " + this.user_data.some_val)},
     ]})
 
 //12c: go_to instruction 0, infinite loop
-new Job({name: "my_job",
+new Job({
+    name: "my_job",
     user_data: {some_val: 0},
-    do_list: [Human.enter_number({user_data_variable_name: "some_val"}),
+    do_list: [
+        Human.enter_number({user_data_variable_name: "some_val"}),
         function(){ out("val: " + this.user_data.some_val)},
-        Robot.go_to(0)
+        Control.go_to(0)
     ]})
 
 //12d: stop if user enters zero
-new Job({name: "my_job",
+new Job({
+    name: "my_job",
     user_data: {some_val: 0},
-    do_list: [Human.enter_number({user_data_variable_name: "some_val"}),
+    do_list: [
+        Human.enter_number({user_data_variable_name: "some_val"}),
         function(){ out("val: " + this.user_data.some_val)},
-        function(){ if(this.user_data.some_val == 0){
-            return Robot.stop_job()
-        }
+        function(){ 
+            if(this.user_data.some_val == 0){
+                return Control.stop_job()
+            }
         },
-        Robot.go_to(0)
+        Control.go_to(0)
     ]})
 
 //12e go_to a label ("lab1").
-new Job({name: "my_job",
+new Job({
+    name: "my_job",
     user_data: {some_val: 0},
-    do_list: [Robot.label("lab1"),
+    do_list: [
+        Control.label("lab1"),
         Human.enter_number({user_data_variable_name: "some_val"}),
         function(){ out("val: " + this.user_data.some_val)},
-        function(){ if(this.user_data.some_val === 0){
-            return Robot.stop_job()
-        }
+        function(){ 
+            if(this.user_data.some_val === 0){
+                return Control.stop_job()
+            }
         },
-        Robot.go_to("lab1")
+        Control.go_to("lab1")
     ]})
 `,
 `//Job Example 13: loop
-//13a: loop with times_to_loop = true (infinite) & Robot.break
-new Job({name: "my_job",
-         do_list: [Robot.out("start of job"),
-                   Robot.loop(true, 
-                              function(iter_index, iter_val, iter_total){
-                                  if(iter_index < 3) {
-                                     return Robot.out("index: "       + iter_index + 
-                                                      " iter_val: "   + iter_val +
-                                                      " iter_total: " + iter_total)}
-                                  else { return Robot.break() } }),
-                   Robot.out("end of job")
-                   ]})
+//13a: loop with times_to_loop = true (infinite) & Control.break
+new Job({
+    name: "my_job",
+    do_list: [
+        IO.out("start of job"),
+        Control.loop(
+            true, 
+            function(iter_index, iter_val, iter_total){
+                if(iter_index < 3) {
+                    return IO.out(
+                        "index: "       + iter_index + 
+                        " iter_val: "   + iter_val +
+                        " iter_total: " + iter_total)
+                }
+                else { return Control.break() } 
+            }),
+        IO.out("end of job")
+    ]})
 
 ////13b: loop with times_to_loop = 3
-new Job({name: "my_job",
-         do_list: [Robot.out("start of job"),
-                   Robot.loop(2 + 3, 
-                              function(iter_index, iter_val, iter_total){
-                                  return Robot.out("index: "       + iter_index + 
-                                                   " iter_val: "   + iter_val +
-                                                   " iter_total: " + iter_total)}),
-                   Robot.out("end of job")
-                   ]})
+new Job({
+    name: "my_job",
+    do_list: [
+        IO.out("start of job"),
+        Control.loop(
+            2 + 3, 
+            function(iter_index, iter_val, iter_total){
+                return IO.out(
+                    "index: "       + iter_index + 
+                    " iter_val: "   + iter_val +
+                    " iter_total: " + iter_total
+                )}),
+            IO.out("end of job")
+    ]})
                    
 
 ////13c: loop with times_to_loop = array                                     
-new Job({name: "my_job",
-         do_list: [Robot.out("start of job"),
-                   Robot.loop([100, 101, 102], 
-                              function(iter_index, iter_val, iter_total){
-                                  return Robot.out("index: "       + iter_index + 
-                                                   " iter_val: "   + iter_val +
-                                                   " iter_total: " + iter_total)}
-                             ),
-                   Robot.out("end of job"),
-                   ]})
+new Job({
+    name: "my_job",
+    do_list: [
+        IO.out("start of job"),
+        Control.loop(
+            [100, 101, 102], 
+            function(iter_index, iter_val, iter_total){
+                return IO.out(
+                    "index: "       + iter_index + 
+                    " iter_val: "   + iter_val +
+                    " iter_total: " + iter_total)}
+                ),
+            IO.out("end of job"),
+        ]})
                    
 ////13d: loop with times_to_loop = array  & multiple instructions per iteration                                   
-new Job({name: "my_job",
-         do_list: [Robot.out("start of job"),
-                   Robot.loop([100, 101, 102], 
-                              function(iter_index, iter_val, iter_total){
-                                  return [Robot.out("index: "       + iter_index + 
-                                                   " iter_val: "   + iter_val +
-                                                   " iter_total: " + iter_total),
-                                          Robot.out("another instruction" + iter_index)        
-                                         ]}
-                             ),
-                   Robot.out("end of job")
-                   ]})                  
+new Job({
+    name: "my_job",
+    do_list: [
+        IO.out("start of job"),
+        Control.loop(
+            [100, 101, 102], 
+            function(iter_index, iter_val, iter_total){
+                return [
+                    IO.out("index: "       + iter_index + 
+                    " iter_val: "   + iter_val +
+                    " iter_total: " + iter_total),
+                    IO.out("another instruction" + iter_index)        
+                ]}
+        ),
+        IO.out("end of job")
+    ]})                  
  
 ////13e: loop with times_to_loop = function (dynamically decide how many iterations)
-new Job({name: "my_job",
-         do_list: [Robot.out("start of job"),
-                   Robot.loop(function(iter_index, iter_val, iter_total){ return (iter_index < 3)}, 
-                              function(iter_index, iter_val, iter_total){
-                                  return Robot.out("index: "       + iter_index + 
-                                                      " iter_val: "   + iter_val +
-                                                      " iter_total: " + iter_total)}),
-                   Robot.out("end of job")
-                   ]}) 
+new Job({
+    name: "my_job",
+    do_list: [
+        IO.out("start of job"),
+        Control.loop(
+            function(iter_index, iter_val, iter_total){ return (iter_index < 3)}, 
+            function(iter_index, iter_val, iter_total){
+                return IO.out(
+                    "index: "       + iter_index + 
+                    " iter_val: "   + iter_val +
+                    " iter_total: " + iter_total
+                )}),
+        IO.out("end of job")
+    ]}) 
 ////13f: loop with times_to_loop a function returning an object to
 ////    loop through the properties of the object.                
-new Job({name: "my_job",
-         user_data: {foo: 100, bar: 101},
-         do_list: [function(){ this.user_data.baz = 102 },
-                   function(){ return Robot.loop(this.user_data,
-                              function(iter_index, iter_val, iter_total, iter_key){
-                                  return [Robot.out("index: "       + iter_index + 
-                                                    " iter_val: "   + iter_val +
-                                                    " iter_total: " + iter_total +
-                                                    " iter_key: "   + iter_key)
-                                         ]}) },             
-                   function(){ inspect(this.user_data) }
-                   ]})                
+new Job({
+    name: "my_job",
+    user_data: {foo: 100, bar: 101},
+    do_list: [
+        function(){ this.user_data.baz = 102 },
+        function(){ 
+            return Control.loop(
+                this.user_data,
+                function(iter_index, iter_val, iter_total, iter_key){
+                    return [
+                        IO.out(
+                            "index: "       + iter_index + 
+                            " iter_val: "   + iter_val +
+                            " iter_total: " + iter_total +
+                            " iter_key: "   + iter_key
+                        )
+                    ]}) },             
+        function(){ inspect(this.user_data) }
+    ]})                
                    
 ////13g: nested loops.  Note inner loop can reference outer loop vars.               
-new Job({name: "my_job",
-         do_list: [Robot.out("start of job"),
-                   Robot.loop(3,
-                              function(iter_index, iter_val, iter_total){
-                                  return [Robot.out("index: "       + iter_index + 
-                                                      " iter_val: "   + iter_val +
-                                                      " iter_total: " + iter_total),
-                                          Robot.loop(2, function(inner_iter_index) { 
-                                                           return Robot.out("inner" + iter_index + 
-                                                                            "." + inner_iter_index)
-                                                        })
-                                         ]}),             
-                   Robot.out("end of job")
-                   ]})
+new Job({
+    name: "my_job",
+    do_list: [
+        IO.out("start of job"),
+        Control.loop(
+            3,
+            function(iter_index, iter_val, iter_total){
+                return [
+                    IO.out("index: "       + iter_index + 
+                                " iter_val: "   + iter_val +
+                                " iter_total: " + iter_total
+                    ),
+                    Control.loop(
+                        2, 
+                        function(inner_iter_index) { 
+                            return IO.out(
+                                "inner" + iter_index + 
+                                "." + inner_iter_index
+                            )
+                        })
+                   ]}),             
+        IO.out("end of job")
+    ]})
 `,
 
 `//Job Example 14: TestSuite in Job
@@ -807,16 +938,18 @@ new TestSuite("ts_in_job",
     ["2 + 3", "5"]
 )
 
-new Job({name: "my_job",
-         do_list: [TestSuite.ts_in_job,
-                   function(){
-                     if((TestSuite.ts_in_job.known_failure_count > 0) ||
-                        (TestSuite.ts_in_job.unknown_failure_count > 0)){
-                        out(TestSuite.ts_in_job.report)
-                        return Robot.stop_job()
-                     }
-                   },
-                   Robot.out("last instruction")
-                   ]})
+new Job({
+    name: "my_job",
+    do_list: [
+        TestSuite.ts_in_job,
+        function(){
+            if((TestSuite.ts_in_job.known_failure_count > 0) ||
+               (TestSuite.ts_in_job.unknown_failure_count > 0)){
+                out(TestSuite.ts_in_job.report)
+                return Control.stop_job()
+            }
+        },
+        IO.out("last instruction")
+    ]})
 `
 ]
\ No newline at end of file
diff --git a/js_info.js b/js_info.js
index e70f0cb1..04080ae9 100644
--- a/js_info.js
+++ b/js_info.js
@@ -1,12 +1,12 @@
 //Created by Fry on 3/22/16.
 
 Js_info = class Js_info {
-    static get_info_string(fn_name, series=null){
-            var orig_input = fn_name
-            var fn
-            var param_count
-            var param_string = ""
-            var path = null
+    static get_info_string(fn_name, series=null, full_src=null, pos=null){
+            let orig_input = fn_name
+            let fn
+            let param_count
+            let param_string = ""
+            let path = null
             if (fn_name == "_the_editor_is_empty") { return "The Editor is empty. Type to insert text." }
             else if (fn_name == "_the_eof_token")  { return "You clicked beyond the last character in the Editor." }
             else if (Array.isArray(fn_name)){
@@ -18,12 +18,14 @@ Js_info = class Js_info {
                     case "let_name":
                         return "<span style='color:blue;'>" + fn_name[1] + "</span> is a " + Js_info.make_atag("let", "let") + " variable of function: " + fn_name[2]
                     case "fn_name":
-                        return Js_info.get_info_string_aux(orig_input)
+                        return Js_info.get_info_string_aux(orig_input, full_src, pos)
                     default: //shouldn't but stick in for d ebugging
                         return "" + fn_name
                 }
             }
-            var info_and_url = Js_info.fn_name_to_info_map[fn_name] //miscelaneous stuff
+            let is_identifier = ((typeof(fn_name) == "string") && is_string_an_identifier(fn_name))
+            let bounds_of_identifier = (is_identifier ? Editor.bounds_of_identifier(full_src, pos) : null )
+            let info_and_url = Js_info.fn_name_to_info_map[fn_name] //miscelaneous stuff
             fn_name = Js_info.strip_path_prefix_maybe(fn_name)
             if (!info_and_url) { info_and_url = Js_info.fn_name_to_info_map[fn_name] } //try again without prefix, for cases where orign fn_name is "fn.call", for instance
             if (!series){ series = Series.find_series(fn_name) }
@@ -48,7 +50,7 @@ Js_info = class Js_info {
                 if (series) { return Js_info.add_series_wrapper_to_info(series, new_info) }
                 else { return new_info }
             }
-            if (fn_name == "Job"){
+            else if (fn_name == "Job"){
                 let val = value_of_path(fn_name)
                 //return "new " + Js_info.wrap_fn_name(fn_name) +
                 //    function_params_for_keyword_call(val)
@@ -89,6 +91,10 @@ Js_info = class Js_info {
                 result += "})"
                 return result
             }
+            //do this before series because we may have a keword of "name:" and name is in the HTML series
+            else if(bounds_of_identifier && (full_src[bounds_of_identifier[1]] == ":")) { //got keyword
+                return '<span style="color: blue;">' + fn_name + ":</span> looks like a keyword for making an object or a function call."
+            }
             else if(series){
                 let obj_to_inspect = this.object_to_inspect_maybe(fn_name, series)
                 if(typeof(obj_to_inspect) == "string"){
@@ -105,18 +111,18 @@ Js_info = class Js_info {
                     inspect(obj_to_inspect)
                     return null
                 }
-                let info = Js_info.getInfo_string_given_series(path, fn_name, series)
+                let info = Js_info.getInfo_string_given_series(fn_name, series)
                 if (info) { return Js_info.add_series_wrapper_to_info(series, info) }
             }
             else if (!Number.isNaN(parseFloat(fn_name))){ //hits on both floats and ints, //must do before we split on dot
                 if (fn_name.includes(".")){ //got a float
                     let the_series = Series.id_to_series("series_float_id")
-                    let info       = Js_info.getInfo_string_given_series(path, fn_name, the_series)
+                    let info       = Js_info.getInfo_string_given_series(fn_name, the_series)
                     return Js_info.add_series_wrapper_to_info(the_series, info)
                 }
                 else { //got an int
                     let the_series = Series.id_to_series("series_integer_id")
-                    let info       = Js_info.getInfo_string_given_series(path, fn_name, the_series)
+                    let info       = Js_info.getInfo_string_given_series(fn_name, the_series)
                     return Js_info.add_series_wrapper_to_info(the_series, info)
                 }
             }
@@ -211,12 +217,12 @@ Js_info = class Js_info {
                     let url = "https://developer.mozilla.org/en-US/docs/Web/API/Window/" + fn_name
                     return Js_info.make_atag("window", fn_name, url) + "(" + Js_info.get_param_string(fn) + ")"
                 }
-                else { return Js_info.get_info_string_aux(orig_input) }
+                else { return Js_info.get_info_string_aux(orig_input, full_src, pos) }
             }
             else if (Editor.in_a_comment(Editor.get_javascript(), Editor.selection_start())){
                 return 'You clicked in a <a target="_blank" href="https://developer.mozilla.org/en-US/docs/Web/JavaScript/Guide/Grammar_and_types#Basics">comment</a>.'
             }
-            else { return Js_info.get_info_string_aux(orig_input) }
+            else { return Js_info.get_info_string_aux(orig_input, full_src, pos) }
     }
 
     //args that probably will return false from this: "title", "body", "activeElement"
@@ -224,7 +230,7 @@ Js_info = class Js_info {
         try{ return Document.prototype[fn_name] } //if null or undefined, or some other data, return that!
         catch (err) { return false }
     }
-    static get_info_string_aux(fn_name){
+    static get_info_string_aux(fn_name, full_src=null, pos=null){
             var val
             if (Array.isArray(fn_name)){
                 if(fn_name[0] == "fn_name"){ //user clicked on the name of the function in a function def
@@ -246,7 +252,16 @@ Js_info = class Js_info {
                 let doc_id_string = fn_name + "_doc_id"
                 let doc_id_elt = window[doc_id_string]
                 if ((val === undefined) && (doc_id_elt === undefined)){
-                    return "Sorry, DDE doesn't know what " + '<span style="color:blue">' + fn_name + "</span> is."
+                    let lit_string_info_maybe = Js_info.get_lit_string_info_maybe(fn_name, full_src, pos)
+                    if(lit_string_info_maybe) { return lit_string_info_maybe }
+                    else {
+                        let is_identifier = ((typeof(fn_name) == "string") && is_string_an_identifier(fn_name))
+                        let bounds_of_identifier = (is_identifier ? Editor.bounds_of_identifier(full_src, pos) : null )
+                        if(bounds_of_identifier && (full_src[bounds_of_identifier[1]] == "(")) {
+                            return "<span style='color:blue;'>" + fn_name + "</span> looks like the name of a function in a call, but it is undefined."
+                        }
+                        else { return "Sorry, DDE doesn't know what " + '<span style="color:blue">' + fn_name + "</span> is." }
+                    }
                 }
                 else if (typeof(val) == "function"){
                     if (is_class(val)){
@@ -274,6 +289,100 @@ Js_info = class Js_info {
             }
     }
 
+    //last ditch effort. Does not attempt to find backquote lit strings since those can
+    //span multi_lines, so are harder to be definitinve about finding,
+    // AND they are not so common.
+    /*static get_lit_string_info_maybe(fn_name, full_src, pos){
+        let prev_newline      = full_src.lastIndexOf("\n", pos)
+        let next_newline      = full_src.indexOf("\n", pos)
+        let prev_double_quote = full_src.lastIndexOf('"', pos)
+        let prev_single_quote = full_src.lastIndexOf("'", pos)
+        let next_double_quote = full_src.indexOf('"', pos)
+        let next_single_quote = full_src.indexOf("'", pos)
+        let double_quote_possible = true
+        let single_quote_possible = true
+        if((prev_double_quote == -1) ||
+           (next_double_quote == -1) ||
+           ((prev_newline != -1) && (prev_double_quote < prev_newline)) ||
+           ((next_newline != -1) && (next_double_quote > next_newline))) {
+            double_quote_possible = false
+        }
+        if((prev_single_quote == -1) ||
+            (next_single_quote == -1) ||
+            ((prev_newline != -1) && (prev_single_quote < prev_newline)) ||
+            ((next_newline != -1) && (next_single_quote > next_newline))) {
+            single_quote_possible = false
+        }
+        if(double_quote_possible && single_quote_possible) {
+            if((prev_double_quote < prev_single_quote) &&
+                (next_double_quote > next_single_quote)) { //look like "  '   '  " with curosr in the middle, ie nested single quote
+                single_quote_possible = false //choose the OUTER string
+            }
+            else if ((prev_single_quote < prev_double_quote) &&
+                    (next_single_quote > next_double_quote)) { //look like '  "   "  ' with curosr in the middle, ie nested single quote
+                double_quote_possible = false //choose the OUTER string
+            }
+            else if (prev_double_quote > prev_single_quote) {
+                   single_quote_possible = false //choose the closer string
+            }
+            else { double_quote_possible = false } //choose the closer string
+        }
+        //either we have just double_quote_possible, just single_quote_possible or neigther
+        if(double_quote_possible) {
+            let lit_str = full_src.substring(prev_double_quote, next_double_quote + 1)
+            return this.getInfo_string_given_series(lit_str, series_literal_string_id)
+        }
+        else if(single_quote_possible) {
+            let lit_str = full_src.substring(prev_single_quote, next_single_quote + 1)
+            return this.getInfo_string_given_series(lit_str, series_literal_string_id)
+        }
+        else { return null } //can't find lit string.
+    }*/
+
+    //return null or a html string of help
+    static get_lit_string_info_maybe(fn_name, full_src, pos){
+        let prev_newline      = full_src.lastIndexOf("\n", pos)
+        let next_newline      = full_src.indexOf("\n", pos)
+        full_src = full_src.substring(prev_newline + 1, next_newline)
+        pos -= (prev_newline + 1)
+        let start_search = 0
+        for(let i = 0; i < 20; i++){
+            let begin_double_quote = full_src.indexOf('"', start_search)
+            let end_double_quote   = ((begin_double_quote == -1) ? -1 :  full_src.indexOf('"', begin_double_quote + 1))
+            let begin_single_quote = full_src.indexOf("'", start_search)
+            let end_single_quote   = ((begin_single_quote == -1) ? -1 :  full_src.indexOf("'", begin_single_quote + 1))
+
+            if((begin_double_quote == -1) || (end_double_quote == -1)) { //double not possible, try single
+                if((begin_single_quote == -1) || (end_single_quote == -1)) { return null }
+                else if((begin_single_quote <= pos) && (end_single_quote >= pos)) {
+                    let lit_str = full_src.substring(begin_single_quote, end_single_quote + 1)
+                    return this.getInfo_string_given_series(lit_str, series_literal_string_id)
+                }
+                else { start_search = end_single_quote + 1 } //loop around again
+            }
+            //double is possible
+            else if((begin_single_quote == -1) ||
+                    (end_single_quote == -1) ||
+                    (begin_double_quote < begin_single_quote)) { //double is possible
+               if((begin_double_quote <= pos) && (end_double_quote >= pos)) {
+                    let lit_str = full_src.substring(begin_double_quote, end_double_quote + 1)
+                    return this.getInfo_string_given_series(lit_str, series_literal_string_id)
+               }
+               else { start_search = end_double_quote + 1 } //loop around again
+            }
+            else { //only single possible
+                if((begin_single_quote <= pos) && (end_single_quote >= pos)) {
+                        let lit_str = full_src.substring(begin_single_quote, end_single_quote + 1)
+                        return this.getInfo_string_given_series(lit_str, series_literal_string_id)
+                }
+                else {
+                    start_search = end_single_quote + 1  //loop around again
+                }
+            }
+        }
+        return null //too many loop iterations, so quit.
+    }
+
     static strip_path_prefix_maybe(fn_name){
         let lit_str_delimiters = ['"', "'", "`"]
         let first_char = ((fn_name.length > 1) ? fn_name[0] : null)
@@ -297,7 +406,7 @@ Js_info = class Js_info {
         return "<i>Series: " + the_series.get_name() + "</i>&nbsp;&nbsp;" + info
     }
     
-    static getInfo_string_given_series(path, fn_name, series){
+    static getInfo_string_given_series(fn_name, series){
         let fn, class_name, new_fn_name, class_fn_name_array, param_string  //more than 1 series uses this local var
         switch(series.id){
             case "series_punctuation_id":
@@ -554,7 +663,7 @@ Js_info = class Js_info {
         return false
     }
 
-    //fn name might have dots in it like "Robot.go_to"
+    //fn name might have dots in it like "Control.go_to"
     static wrap_fn_name(fn_name, the_doc_id){
         let result = fn_name
         if(!the_doc_id) { the_doc_id = fn_name + "_doc_id"}
@@ -740,7 +849,7 @@ Js_info.fn_name_to_info_map = {
     "JSON.parse": ["JSON.parse(a_string)",                        "https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/JSON/parse"],
     "instanceof":["new Date() instanceof Date => true", "https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Operators/instanceof"],
     "let":       ["let foo = 2;",                       "https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Statements/let"],
-    "new":       ['new Date("Apr 1 2016")',             "https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Operators/new"],
+    "new":       ['new creates an object such as a Job or a Dexter', "https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Operators/new"],
     "null":      ["null",                               "https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/null"],
     "return":    ["function foo(){return 7}",           "https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Statements/return"],
     "Root":      ["Root is the common ancestor<br/>of all objects made with newObject."],
diff --git a/load_job_engine.js b/load_job_engine.js
index 7dac1cf3..01767295 100644
--- a/load_job_engine.js
+++ b/load_job_engine.js
@@ -13,8 +13,8 @@ var {serial_port_init, serial_path_to_info_map, serial_devices, serial_connect_l
     serial_disconnect_all} = require("./core/serial.js")
 
 
-var {dde_error, warning, shouldnt, array_to_csv, csv_to_array, Duration, flatten, fn_is_keyword_fn, format_number, make_ins_arrays, same_elts,
-    patch_until, return_first_arg, trim_comments_from_front,
+var {dde_error, warning, shouldnt, array_to_csv, csv_to_array, Duration, flatten, fn_is_keyword_fn, format_number, make_ins_arrays,
+    ordinal_string, patch_until, return_first_arg, same_elts, trim_comments_from_front,
     version_equal, version_less_than, version_more_than, dde_version_between} = require("./core/utils.js")
 
 var {choose_file, choose_save_file, choose_file_and_get_content,
@@ -40,7 +40,9 @@ var {Instruction, make_ins, human_task_handler, human_enter_choice_handler,
     human_enter_text_handler, human_show_window_handler} = require("./core/instruction.js")
 
 var {Robot, Brain, Dexter, Human, Serial} = require('./core/robot.js')
-var Job = require('./core/job.js')
+var {Control} = require('./core/instruction_control.js')
+var {IO} = require('./core/instruction_io.js')
+var Job  = require('./core/job.js')
 
 
 
diff --git a/low_level_dexter/ViewEyeRealTime.js b/low_level_dexter/ViewEyeRealTime.js
index 55db2b00..d05d039a 100644
--- a/low_level_dexter/ViewEyeRealTime.js
+++ b/low_level_dexter/ViewEyeRealTime.js
@@ -221,7 +221,7 @@ function init_view_eye(){
     		inter_do_item_dur: .5 * _ms,
             robot: cal_get_robot(),
             do_list: [ Dexter.move_all_joints(0, 0, 0, 0, 0),
-             			Robot.label("loop_start"),
+             			Control.label("loop_start"),
                         make_ins("w", 42, 64),
                         make_ins("S", "J1BoundryHigh",648000*_arcsec),
                         make_ins("S", "J1BoundryLow",-648000*_arcsec),
diff --git a/make_instruction/make_instruction.js b/make_instruction/make_instruction.js
index c0e3601e..1f6f31f2 100644
--- a/make_instruction/make_instruction.js
+++ b/make_instruction/make_instruction.js
@@ -480,10 +480,13 @@ var MakeInstruction = class MakeInstruction{
            if (arg_name == "body") { placeholder = "separate statements with newline or semicolon."}
            let rows = 4
            if(arg_name == "...params") { rows = 2 }
-            let result = "<div style='margin:5px;white-space:nowrap;'><span style='vertical-align:top;'>" + arg_name + ":</span>\n" +
-                         "<textarea class='mi_arg_val_src' rows='" + rows + "' placeholder='" + placeholder + "' oninput='MiState.invalidate_job_instance()' style='width:300px;font-size:13px;' id='" + id + "'>" + arg_val_src + "</textarea>\n" +
+           let result = "<div style='margin:5px;white-space:nowrap;'><span style='vertical-align:top;'>" + arg_name + ":</span>\n" +
+                         "<textarea class='mi_arg_val_src' rows='" + rows + "' placeholder='" + placeholder + "' oninput='MiState.invalidate_job_instance()'" +
+                            " onclick='Editor.show_identifier_info_for_type_in(event)' " +
+                            " style='width:300px;font-size:13px;' id='" + id + "'>" +
+                             arg_val_src + "</textarea>\n" +
                           "</div>"
-            return result
+           return result
         }
         /*else if((instruction_name == "Dexter.set_parameter") &&
                  arg_name == "name"){
@@ -508,16 +511,17 @@ var MakeInstruction = class MakeInstruction{
                 array_of_possible_values.push('"' + name + '"')
             }
             let sel_index = array_of_possible_values.indexOf(arg_val_src) ////might return -1 but that's ok, it will just be blank type in
-            let the_arg_val_src = arg_val_src
-            out("arg_val_src: " + arg_val_src + " sel_index: " + sel_index)
+            //let the_arg_val_src = ((sel_index == -1) ? "" : arg_val_src)
+            //out("arg_val_src: " + arg_val_src + " sel_index: " + sel_index)
+            if(sel_index == -1) { sel_index = 0 } //sill get the default set_parameter nname of "Acceleration"
             setTimeout(function() {
                     $(window[id]).jqxComboBox({ source: array_of_possible_values,
                         width: '210px',
                         height: '16px',
                         selectedIndex: sel_index})  //default
-                    if(sel_index == -1){
-                        $(window[id]).jqxComboBox("val", the_arg_val_src)
-                    }
+                    //if(sel_index == -1){
+                    //    $(window[id]).jqxComboBox("val", the_arg_val_src)
+                    //}
                 },
                 200)
             return  "<div style='margin:5px;white-space:nowrap;'>" + arg_name + ": <div style='display:inline-block' id='" + id + "' class='mi_arg_val_src combo_box'/></div>"
@@ -1122,7 +1126,7 @@ var MakeInstruction = class MakeInstruction{
             else {
                 warning("For this new Job to work, the embedded job<br/>" +
                         "must be saved and defined before running this new Job.")
-                old_instr_src = 'Robot.include_job(' + old_job_name + ')'
+                old_instr_src = 'Control.include_job(' + old_job_name + ')'
             }
         }
         else { //a non "new job" old instruction
@@ -1301,12 +1305,12 @@ var MakeInstruction = class MakeInstruction{
             let ref
             if(mi_job_instrs_wrapper_job_id.checked){
                 let options = '{start_if_robot_busy: true}'
-                    ref= '                   Robot.start_job("' + do_list_ref_string + '", ' + options + ', "error", true),\n'
+                    ref= '                   Control.start_job("' + do_list_ref_string + '", ' + options + ', "error", true),\n'
             }
             else if (mi_job_instrs_wrapper_var_id.checked ||
                      (mi_job_instrs_wrapper_data_id.checked &&
                       mi_job_instrs_where_file_id.checked)){
-                    ref= '                   Robot.include_job("' + do_list_ref_string + '"),\n'
+                    ref= '                   Control.include_job("' + do_list_ref_string + '"),\n'
             }
             else if (mi_job_instrs_wrapper_data_id.checked){
                     ref= '                   ' + do_list_ref_string + '\n'
@@ -1324,7 +1328,7 @@ var MakeInstruction = class MakeInstruction{
         return result
     }
 
-    //returns a string (which could be empty, if everything ok. Else retruns an array with
+    //returns a string (which could be empty), if everything ok. Else retruns an array with
     //one elt, an error message
     static low_level_code(){
         if(mi_job_instrs_what_none_id.checked) { return "" }
@@ -1332,6 +1336,7 @@ var MakeInstruction = class MakeInstruction{
             let target_job_name = mi_job_instrs_wrapper_name_id.value
             let src_job_name = window.eval(MakeInstruction.arg_name_to_src_in_mi_dialog("name")) //might not just be a literal, could be an expression!
             let job_instance = Job[src_job_name]
+            let do_list_src = MakeInstruction.arg_name_to_src_in_mi_dialog("do_list")
             let do_list_to_mine = []
             let result_do_list  = []
             let begin_loc = MiRecord.get_begin_mark_loc()
@@ -1341,7 +1346,6 @@ var MakeInstruction = class MakeInstruction{
             let has_non_top_levels
             let use_str_instrs = mi_job_instrs_what_string_id.checked
             if(!job_instance || (job_instance != MiState.job_instance) || !MiState.job_instance.do_list){ //not in sync so prefer the def in the dialog
-                let do_list_src = MakeInstruction.arg_name_to_src_in_mi_dialog("do_list")
                 do_list_to_mine = window.eval(do_list_src)
                 if(use_str_instrs) { do_list_to_mine = this.make_string_do_list_from_orig(do_list_to_mine, job_instance) }
                 warning("Since the Job in the Make Instruction dialog hasn't been played,<br/>we're using its full original do_list.")
@@ -1405,7 +1409,14 @@ var MakeInstruction = class MakeInstruction{
                     }
                 }
             }
-            let do_list_src = to_source_code({value: result_do_list, one_line_per_array_elt:true})
+            if(MiRecord.get_play_middle() && (begin_top_loc == 0) &&
+                ((end_top_loc == 0) || (end_top_loc == do_list_to_mine.length))) {} //we've never played the job, or at least we're not attempting to get just a segment of the do_list, so use the orig src.
+                //note that if the src has something like Dexter.set_parameter(...), then that
+                //will eval to an oplet array, and so attempting to get the evaled array
+                //do_list_to_mine (or result_do_list) and doing to_source_code on it is NOT going to
+                //return "Dexter.set_parameter(...)" but rather make_ins("S"...) which is not what we want,
+                //so just use the orig src.
+            else { do_list_src = to_source_code({value: result_do_list, one_line_per_array_elt:true})}
             if(mi_job_instrs_wrapper_data_id.checked){
                 do_list_src = replace_substrings(do_list_src, "\n", "\n ") //indent 2nd thru nth lines just one space for the outer close square bracket
             }
@@ -1506,13 +1517,14 @@ MakeInstruction.menu_hierarchy = [
                     "sleep",  "slow_move", "write"],
     ["Human",       "enter_choice", "enter_filepath", "enter_instruction", "enter_number",
                     "enter_position", "enter_text", "notify", "show_window", "speak", "task"],
-    ["Robot control", "break", "go_to", "loop","label",
+    ["Control",     "break", "go_to", "loop","label",
                       "suspend", "unsuspend", "sync_point", "wait_until"],
-    ["Robot I/O",  "get_page", "grab_robot_status",  "out",
+    ["Control Jobs", "include_job", "send_to_job", /*"sent_from_job" don't let user use this*/
+                     "start_job", "stop_job"],
+    ["Control bugs", "debugger", "error", "if_any_errors"],
+    ["IO",  "get_page", "grab_robot_status",  "out",
                    "show_picture", "show_video", "take_picture"],
-    ["Robot Jobs", "include_job", "send_to_job", /*"sent_from_job" don't let user use this*/
-                   "start_job", "stop_job"],
-    ["Robot bugs", "debugger", "error", "if_any_errors"],
+
     ["Serial",     "string_instruction"],
     ["Misc"      , "function", "function*",
                    //"null", don't have null on menu. its a valid instruction but does nothing, hard to support, and you wouldn't explicitly put one in a job's do_list
diff --git a/make_instruction/mirecord.js b/make_instruction/mirecord.js
index fb650b6b..8ca032c9 100644
--- a/make_instruction/mirecord.js
+++ b/make_instruction/mirecord.js
@@ -326,7 +326,7 @@ var MiRecord = class MiRecord {
             robot: job_wrapper_robot,
             do_list: [
                 Dexter.set_follow_me(),
-                Robot.loop(true,
+                Control.loop(true,
                             function(){
                                 let rs_array = last(this.rs_history)
                                 let rs_obj = new RobotStatus({robot_status: rs_array})
@@ -633,7 +633,7 @@ var MiRecord = class MiRecord {
                   Dexter.loop(true,
                     function(iter_index){
                         if (iter_index >= mi_recorded_angles.length){
-                             return Robot.break()
+                             return Control.break()
                         }
                         else { return Dexter.pid_move_all_joints(mi_recorded_angles[iter_index]) }
                     })
diff --git a/music/note_testsuite.js b/music/note_testsuite.js
index b93cbd51..7d33c6f1 100644
--- a/music/note_testsuite.js
+++ b/music/note_testsuite.js
@@ -197,7 +197,7 @@ beep()
 beep.start()
 beep.dur
 new Job({name: "my_job",
-         do_list: [beep, Robot.out("aa")]})
+         do_list: [beep, IO.out("aa")]})
 */
 
    
diff --git a/package.json b/package.json
index 5dc39d28..fa5d2ead 100644
--- a/package.json
+++ b/package.json
@@ -1,8 +1,8 @@
 {
   "name": "dexter_dev_env",
   "productName": "dexter_dev_env",
-  "version": "3.3.8",
-  "release_date": "Jun 5, 2019",
+  "version": "3.4.0",
+  "release_date": "Jun 27, 2019",
   "description": "Dexter Development Environment",
   "author": "Fry",
   "license": "GPL-3.0",
@@ -43,8 +43,7 @@
     "semver": "^5.4.1",
     "serialport": "^7.0.2",
     "three-stl-loader": "^1.0.6",
-    "webmidi": "^2.2.0",
-    "ws": "^1.1.1"
+    "webmidi": "^2.2.0"
   },
   "devDependencies": {
     "dependency-check": "^2.8.0",
diff --git a/ready.js b/ready.js
index 5e8ffbcf..bf4f9730 100644
--- a/ready.js
+++ b/ready.js
@@ -322,6 +322,8 @@
 
     open_from_dexter_id.onclick = Editor.open_from_dexter_computer
 
+    open_system_file_id.onclick = Editor.open_system_file
+
     load_file_id.onclick=function(e) {
         const path = choose_file({title: "Choose a file to load"})
         if (path){
@@ -869,7 +871,7 @@ get_page_async("http://www.ibm.com", function(err, response, body){ out(body.len
              if (Editor.selection_start() == 0)     {prefix = ""}
              else if ("[, \n]".includes(prev_char)) {prefix = ""}
              else                                   {prefix = ","}
-             Editor.insert(prefix + 'Robot.debugger(),nnll') //ok if have comma after last list item in new JS.
+             Editor.insert(prefix + 'Control.debugger(),nnll') //ok if have comma after last list item in new JS.
     }
     comment_out_id.onclick     = function(){Editor.wrap_around_selection("/*", "*/")}
     comment_eol_id.onclick     = function(){Editor.insert("//")}
@@ -969,7 +971,7 @@ foo      //eval to see the latest values</pre>`,
     // Control Flow menu
     if_single_armed_id.onclick = function(){Editor.wrap_around_selection('if (1 + 1 == 2) {\n    ', '\n}')}
     if_multi_armed_id.onclick  = function(){Editor.wrap_around_selection('if (1 + 1 == 2) {\n    ', '\n}\nelse if (2 + 2 == 4){\n    \n}\nelse {\n    \n}\n')}
-    for_number_of_times_id.onclick  = function(){Editor.wrap_around_selection('for(let i = 0; i < 10; i++){\n', '\n}\n')}
+    for_number_of_times_id.onclick    = function(){Editor.wrap_around_selection('for(let i = 0; i < 10; i++){\n', '\n}\n')}
     for_through_array_elts_id.onclick = function(){Editor.wrap_around_selection('for(let x of [7, 4, 6]){\n', '\n}\n')}
     try_id.onclick             = function(){Editor.wrap_around_selection('try{\n', '\n} catch(err){handle errors here}')}
     dde_error_id.onclick       = function(){Editor.wrap_around_selection('dde_error(', ')', '"busted!"')}
@@ -989,7 +991,7 @@ foo      //eval to see the latest values</pre>`,
     show_robot_status_id.onclick   = RobotStatusDialog.show
     jobs_report_id.onclick         = function(){Job.report() }
     stop_all_jobs_id.onclick       = function(){Job.stop_all_jobs() }
-    undefine_jobs_id.onclick     = function(){Job.clear_stopped_jobs() } //use individual X (close) marks instead
+    undefine_jobs_id.onclick       = function(){Job.clear_stopped_jobs() } //use individual X (close) marks instead
 
     /*$("#real_time_sim_checkbox_id").jqxCheckBox({ checked: true })
     real_time_sim_checkbox_id.onclick = function(event) {
@@ -1002,6 +1004,9 @@ foo      //eval to see the latest values</pre>`,
         event.stopPropagation() //causes menu to not shrink up, so you can see the effect of your click
                             //AND causes the onclick for simulate_id to NOT be run.
     }*/
+    insert_new_job_id.onclick = Editor.insert_new_job
+    set_menu_string(insert_new_job_id, "New Job", "j")
+
     insert_job_example0_id.onclick = function(){Editor.insert(job_examples[0])}
     insert_job_example1_id.onclick = function(){Editor.insert(job_examples[1])}
     insert_job_example2_id.onclick = function(){Editor.insert(job_examples[2])}
@@ -1017,7 +1022,7 @@ foo      //eval to see the latest values</pre>`,
     insert_job_example12_id.onclick = function(){Editor.insert(job_examples[12])}
     insert_job_example13_id.onclick = function(){
                                          Editor.insert(job_examples[13])
-                                         open_doc("Robot.loop_doc_id")
+                                         open_doc("Control.loop_doc_id")
     }
     insert_job_example14_id.onclick = function(){Editor.insert(job_examples[14])}
 
diff --git a/robot_status_dialog.js b/robot_status_dialog.js
index 42eaacf0..d74e3bde 100644
--- a/robot_status_dialog.js
+++ b/robot_status_dialog.js
@@ -210,7 +210,7 @@ var RobotStatusDialog = class RobotStatusDialog{
             robot_status_run_update_job_button_id.style.backgroundColor = "#AAFFAA"
             new Job({name: "rs_update",
                 robot: rob,
-                do_list: [ Robot.loop(true,
+                do_list: [ Control.loop(true,
                            function() {
                               rob.set_is_calibrated()
                               let cal = rob.is_calibrated
diff --git a/series.js b/series.js
index a9c7e568..c58926e8 100644
--- a/series.js
+++ b/series.js
@@ -809,13 +809,13 @@ Series.instances = [
                                                           "Human.enter_choice", "Human.enter_instruction", "Human.enter_number",
                                                           "Human.enter_text",   "Human.notify", "Human.show_window", "Human.task",
                                                           "Serial.string_instruction",
-                                                          "Robot.break", "Robot.debugger","Robot.error",
-                                                          "Robot.get_page", "Robot.go_to", "Robot.grab_robot_status",
-                                                          "Robot.if_any_errors", "Robot.label", "Robot.loop", "Robot.out",
-                                                          "Robot.show_picture", "Robot.include_job", "Robot.show_video", "Robot.take_picture",
-                                                          "Robot.send_to_job", "Robot.sent_from_job", "Robot.start_job", "Robot.stop_job", "Robot.suspend", "Robot.sync_point",
-                                                          "Robot.unsuspend",
-                                                          "Robot.wait_until"],
+                                                          "Control.break", "Control.debugger","Control.error",
+                                                          "Control.get_page", "Control.go_to", "Control.grab_robot_status",
+                                                          "Control.if_any_errors", "Control.label", "Control.loop", "IO.out",
+                                                          "IO.show_picture", "Control.include_job", "IO.show_video", "IO.take_picture",
+                                                          "Control.send_to_job", "Control.sent_from_job", "Control.start_job", "Control.stop_job", "Control.suspend", "Control.sync_point",
+                                                          "Control.unsuspend",
+                                                          "Control.wait_until"],
         menu_insertion_string:"Dexter.move_to()", menu_sel_start:0, menu_sel_end:-2, sample:"Dexter.move_to"}),
     new Series({id:"series_robot_config_id",
         array: ["Dexter.LEFT",          "Dexter.LEFT_DOWN",     "Dexter.LEFT_UP",       "Dexter.LEFT_IN",
diff --git a/test_suite/loop_testsuite.js b/test_suite/loop_testsuite.js
index 98c4fdb5..d740af13 100644
--- a/test_suite/loop_testsuite.js
+++ b/test_suite/loop_testsuite.js
@@ -1,16 +1,16 @@
 new TestSuite("loop",
     [`new Job({name: "my_job",
          user_data: {sum: 0},
-         do_list: [Robot.loop(true, 
+         do_list: [Control.loop(true, 
                               function(iter_index, iter_val, iter_total){
                                   if(iter_index < 4) {
                                     this.user_data.sum += iter_index}
-                                  else { return Robot.break() } }),
+                                  else { return Control.break() } }),
                    ]})`],
     ["Job.my_job.user_data.sum", "6"],
     [`new Job({name: "my_job",
           user_data: {sum: 0},
-         do_list: [Robot.loop(2 + 4, 
+         do_list: [Control.loop(2 + 4, 
                               function(iter_index, iter_val, iter_total){
                                 this.user_data.sum += iter_val
                                   })
@@ -18,7 +18,7 @@ new TestSuite("loop",
     ["Job.my_job.user_data.sum", "15"],
     [`new Job({name: "my_job",
          user_data: {sum: 0},
-         do_list: [Robot.loop([100, 101, 102], 
+         do_list: [Control.loop([100, 101, 102], 
                               function(iter_index, iter_val, iter_total){
                                  this.user_data.sum += iter_val }
                              )
@@ -26,7 +26,7 @@ new TestSuite("loop",
      ["Job.my_job.user_data.sum", "303"],
      [`new Job({name: "my_job",
          user_data: {sum: 0},
-         do_list: [Robot.loop([100, 101, 102], 
+         do_list: [Control.loop([100, 101, 102], 
                               function(iter_index, iter_val, iter_total){
                                   this.user_data.sum += iter_total        
                                          }
@@ -35,7 +35,7 @@ new TestSuite("loop",
      ["Job.my_job.user_data.sum", "9"],
      [`new Job({name: "my_job",
          user_data: {sum: 0},
-         do_list: [Robot.loop(function(iter_index, iter_val, iter_total){ return (iter_index < 4)}, 
+         do_list: [Control.loop(function(iter_index, iter_val, iter_total){ return (iter_index < 4)}, 
                               function(iter_index, iter_val, iter_total){
                                    this.user_data.sum += iter_index 
                                   })
@@ -44,7 +44,7 @@ new TestSuite("loop",
      [`new Job({name: "my_job",
          user_data: {sum: 0},
          do_list: [function(){ this.user_data.baz = 102 },
-                   function(){ return Robot.loop({foo: 200, bar: 301},
+                   function(){ return Control.loop({foo: 200, bar: 301},
                               function(iter_index, iter_val, iter_total, iter_key){
                                  this.user_data.sum += iter_val
                                          }) }             
@@ -52,10 +52,10 @@ new TestSuite("loop",
      ["Job.my_job.user_data.sum", "501"],
      [`new Job({name: "my_job",
          user_data: {sum: 0},
-         do_list: [Robot.out("start of job"),
-                   Robot.loop(2,
+         do_list: [IO.out("start of job"),
+                   Control.loop(2,
                               function(iter_index, iter_val, iter_total){
-                                  return Robot.loop(3, function(inner_iter_index) { 
+                                  return Control.loop(3, function(inner_iter_index) { 
                                               this.user_data.sum += inner_iter_index             
                                                         })
                                          })
diff --git a/test_suite/test_suites.js b/test_suite/test_suites.js
index 417e7d15..3b938f39 100644
--- a/test_suite/test_suites.js
+++ b/test_suite/test_suites.js
@@ -328,7 +328,7 @@ new TestSuite("Instruction.is_do_list_item",
     ["Instruction.is_do_list_item([5, 6])", "true"],
     ["Instruction.is_do_list_item(null)", "true"],
     ["Instruction.is_do_list_item(undefined)", "true"],
-    ["Instruction.is_do_list_item(Robot.loop())", "true"],
+    ["Instruction.is_do_list_item(Control.loop())", "true"],
     ['Instruction.is_do_list_item(make_ins("g"))', "true"],
     ["function* my_genxx(){ yield 5 }"],
     ["Instruction.is_do_list_item(my_genxx())", "true"],
diff --git a/user_tools/ezTeach_base.js b/user_tools/ezTeach_base.js
index a3d6a799..ff93088e 100755
--- a/user_tools/ezTeach_base.js
+++ b/user_tools/ezTeach_base.js
@@ -320,7 +320,7 @@ function Main_Create(){
             this.user_data.old_buttons = gp.buttons
     		//CMD.push(make_ins("F"))
     		CMD.push(make_ins("g"))
-    		CMD.push(Robot.go_to("Main_Create"))
+    		CMD.push(Control.go_to("Main_Create"))
     		return CMD
             
         }// end prev state
@@ -428,7 +428,7 @@ function Main_Create(){
     }
     
     if(!gp.buttons[map.finish].pressed && this.user_data.finish){
-    	CMD.push(Robot.go_to("Finish_Create"))
+    	CMD.push(Control.go_to("Finish_Create"))
         this.user_data.finish = false
     }
     
@@ -497,7 +497,7 @@ function Main_Create(){
     this.user_data.old_buttons = gp.buttons
     //CMD.push(make_ins("F"))
     CMD.push(make_ins("g"))
-    CMD.push(Robot.go_to("Main_Create"))
+    CMD.push(Control.go_to("Main_Create"))
     return CMD
 }
 
@@ -597,7 +597,7 @@ function Init_Run(){
     if(points_filepath == "choose_file"){
 		points_filepath = choose_file({buttonLabel: "Open"})
     	if(points_filepath === undefined){
-    		return Robot.stop_job
+    		return Control.stop_job
     	}
     }
     let content = read_file(points_filepath)
@@ -859,7 +859,7 @@ function Edit_Coors_Run(){
             this.user_data.old_buttons = gp.buttons
     		//CMD.push(make_ins("F"))
     		CMD.push(make_ins("g"))
-    		CMD.push(Robot.go_to("Edit_Coors_Run"))
+    		CMD.push(Control.go_to("Edit_Coors_Run"))
     		return CMD
             
         }// end prev state
@@ -970,7 +970,7 @@ function Edit_Coors_Run(){
     
     if(!gp.buttons[map.finish].pressed && this.user_data.finish){
     	out("Now starting Run...")
-        CMD.push(Robot.go_to("Main_Run"))
+        CMD.push(Control.go_to("Main_Run"))
         this.user_data.finish = false
     }
     
@@ -1039,7 +1039,7 @@ function Edit_Coors_Run(){
     this.user_data.old_buttons = gp.buttons
     //CMD.push(make_ins("F"))
     CMD.push(make_ins("g"))
-    CMD.push(Robot.go_to("Edit_Coors_Run"))
+    CMD.push(Control.go_to("Edit_Coors_Run"))
     return CMD
 }
 
@@ -1054,7 +1054,7 @@ function Main_Run(){
     	this.user_data.finish = true
     }
     if(!gp.buttons[map.finish].pressed && this.user_data.finish){
-    	CMD.push(Robot.go_to("Finish_Run"))
+    	CMD.push(Control.go_to("Finish_Run"))
     }
     
     let position_object
@@ -1088,7 +1088,7 @@ function Finish_Run(){
     if(inputs.loop && this.user_data.loop_idx < inputs.loop_iterations){
     	CMD.push(Dexter.sleep(inputs.inter_loop_dur))
         CMD.push(make_ins("F"))
-        CMD.push(Robot.go_to("Main_Run"))
+        CMD.push(Control.go_to("Main_Run"))
         this.user_data.loop_idx++
     }else{
         let ready_position = this.user_data.inputs.start_position
diff --git a/user_tools/ezTeach_template.js b/user_tools/ezTeach_template.js
index 451825bd..e1afb908 100755
--- a/user_tools/ezTeach_template.js
+++ b/user_tools/ezTeach_template.js
@@ -152,7 +152,7 @@ function ez_stop_run(info){
     CMD = [
     	function(){info.job.inter_do_item_dur = .5 * _ms},
     	make_ins("S", "GripperMotor", 0),
-        Robot.stop_job,
+        Control.stop_job,
     ]
 }