diff --git a/src/blockly/generators/propc/base.js b/src/blockly/generators/propc/base.js
index 437180de..d6d10d3e 100644
--- a/src/blockly/generators/propc/base.js
+++ b/src/blockly/generators/propc/base.js
@@ -2314,7 +2314,7 @@ Blockly.Blocks.custom_code_multiple = {
     helpUrl: Blockly.MSG_SYSTEM_HELPURL,
     init: function () {
         this.setTooltip(Blockly.MSG_CUSTOM_CODE_MULTIPLE_TOOLTIP);
-        this.setColour(colorPalette.getColor('system'));
+        this.setColour('F00'); //(colorPalette.getColor('system'));
         this.appendDummyInput('BLOCK_LABEL')
                 .appendField(new Blockly.FieldCheckbox('FALSE', function (showFields) {
                     this.sourceBlock_.updateShape_(showFields, true);
diff --git a/src/blockly/generators/propcToolbox.js b/src/blockly/generators/propcToolbox.js
index f1f9c1c5..69c76bbe 100644
--- a/src/blockly/generators/propcToolbox.js
+++ b/src/blockly/generators/propcToolbox.js
@@ -1718,6 +1718,127 @@ xmlToolbox += '        <block type="register_set"></block>';
 xmlToolbox += '        <block type="register_get"></block>';
 xmlToolbox += '        <block type="system_counter" include="other,"></block>';
 xmlToolbox += '    </category>';
+xmlToolbox += '  <category name="PTHS Robot Arm">';
+xmlToolbox += '    <block type="custom_code_multiple" id="gND^n:Y+vVu4NcaGZmGn" x="-884" y="-1910"><mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:&quot;#992673&quot;,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;MAIN&quot;:&quot;cog_run(run_servos, 128);\npause(1000);&quot;,&quot;GLOBALS&quot;:&quot;&quot;,&quot;INCLUDES&quot;:&quot;#include \&quot;servo.h\&quot;\n#define MY_MAXSPD 100\n#define MY_MINSPD  20\n#define MY_MAXPOS 990\n#define MY_MINPOS  10\n#define MY_LIFT     0\n#define MY_CURL     1\n#define MY_ROTATE   2\n#define LIFT_ZERO 215\n#define CURL_ZERO 844\n\nint _servo[3] = {17, 15, 14};\nint _feedback[3] = {16, 11, 10};\nint _initpos[3];\nint _interpos[3];\nint _targpos[3] = {0, 0, 0};\nint _speed[3] = {0, 0, 0};\nint _currt[3] = {0, 0, 0};\nint _totalt[3] = {0, 0, 0};\nint _servospd[3]= {0, 0, 0};\nint _currpos[3];\nint _currspd[3];\n//int _armangle[3];\n//int _zeroangle[3] = {215, 844, 500};\nint _nextspd = MY_MINSPD;\nint _lastgrip = 200;\nint _maxerror = 0;\nint _t;\n\nshort _sigmoid[257] = {\n      0,    8,   16,   25,   34,   44,   54,   64,   75,   86,   97,  109,  122,  135,  149,  163,\n    178,  193,  209,  225,  242,  260,  279,  298,  318,  339,  361,  383,  407,  431,  456,  483,\n    510,  538,  568,  599,  630,  663,  698,  733,  771,  809,  849,  890,  933,  978, 1024, 1073,\n   1122, 1174, 1228, 1284, 1342, 1401, 1464, 1528, 1595, 1664, 1736, 1810, 1887, 1966, 2049, 2134,\n   2223, 2314, 2409, 2506, 2608, 2712, 2820, 2932, 3047, 3166, 3289, 3416, 3547, 3682, 3822, 3965,\n   4113, 4265, 4422, 4584, 4750, 4921, 5096, 5277, 5462, 5653, 5848, 6048, 6254, 6464, 6680, 6900,\n   7126, 7357, 7593, 7834, 8080, 8331, 8587, 8848, 9113, 9384, 9659, 9938,10222,10510,10802,11098,\n  11398,11701,12008,12318,12631,12947,13266,13587,13911,14236,14563,14891,15220,15551,15882,16213,\n  16545,16876,17207,17538,17867,18196,18523,18848,19171,19492,19811,20127,20440,20750,21057,21361,\n  21660,21956,22249,22536,22820,23100,23374,23645,23910,24171,24427,24678,24924,25165,25401,25632,\n  25858,26078,26294,26505,26710,26910,27106,27296,27481,27662,27837,28008,28174,28336,28493,28645,\n  28793,28937,29076,29211,29342,29469,29592,29711,29826,29938,30046,30151,30252,30350,30444,30536,\n  30624,30709,30792,30871,30948,31023,31094,31163,31230,31295,31357,31417,31475,31530,31584,31636,\n  31686,31734,31780,31825,31868,31909,31949,31988,32025,32060,32095,32128,32160,32190,32220,32248,\n  32275,32302,32327,32351,32375,32397,32419,32440,32460,32479,32498,32516,32533,32549,32565,32581,\n  32595,32610,32623,32636,32649,32661,32672,32684,32694,32705,32715,32724,32733,32742,32751,32759,\n  32767\n};\n\nchar _cos[251] = {\n  255,255,255,255,255,255,255,255,255,255,\n  254,254,254,254,254,254,254,254,253,253,\n  253,253,253,252,252,252,252,251,251,251,\n  250,250,250,250,249,249,249,248,248,247,\n  247,247,246,246,245,245,244,244,243,243,\n  243,242,242,241,240,240,239,239,238,238,\n  237,236,236,235,235,234,233,233,232,231,\n  231,230,229,229,228,227,226,226,225,224,\n  223,223,222,221,220,219,219,218,217,216,\n  215,214,214,213,212,211,210,209,208,207,\n  206,205,204,203,202,201,201,200,199,197,\n  196,195,194,193,192,191,190,189,188,187,\n  186,185,184,183,181,180,179,178,177,176,\n  175,173,172,171,170,169,167,166,165,164,\n  163,161,160,159,158,156,155,154,152,151,\n  150,149,147,146,145,143,142,141,139,138,\n  137,135,134,133,131,130,128,127,126,124,\n  123,121,120,119,117,116,114,113,111,110,\n  109,107,106,104,103,101,100, 98, 97, 95,\n   94, 92, 91, 89, 88, 86, 85, 83, 82, 80,\n   79, 77, 76, 74, 73, 71, 70, 68, 67, 65,\n   63, 62, 60, 59, 57, 56, 54, 52, 51, 49,\n   48, 46, 45, 43, 41, 40, 38, 37, 35, 34,\n   32, 30, 29, 27, 26, 24, 22, 21, 19, 18,\n   16, 14, 13, 11, 10,  8,  6,  5,  3,  2,\n    0\n};\n\nvoid run_servo(int i, int pos) {\n  if (i &gt;= 0 &amp;&amp; i &lt;= 2) {\n    _targpos[i] = 0;\n    if (pos &gt; 0) {\n      _servospd[i] = 0;\n      _currt[i] = 0;\n      _speed[i] = constrainInt(_nextspd, MY_MINSPD, MY_MAXSPD) * 10;\n      _totalt[i] = constrainInt((abs(pos - _currpos[i]) &lt;&lt; 15) / _speed[i], 1, 256000);\n      _initpos[i] = _interpos[i] = _currpos[i];\n      _targpos[i] = constrainInt(pos, MY_MINPOS, MY_MAXPOS);\n    }\n  }\n}\n\nvoid grip_angle(int angle) {\n\tint ang = constrainInt(angle, 0, 400);\n\tif (ang &gt; _lastgrip) {\n\t\tfor (int i = _lastgrip; i &lt;= ang; i += 10) {\n\t\t\tservo_angle(13, i);\n\t\t\tpause(25);\n\t\t}\n\t} else {\n\t\tfor (int i = _lastgrip; i &gt;= ang; i -= 10) {\n\t\t\tservo_angle(13, i);\n\t\t\tpause(25);\n\t\t}\n  }\t\t\n\t_lastgrip = ang;\n}\t\n\nvoid arm_wait() {\n\tpause(75);\n\twhile (_maxerror &gt; 2) {pause(50);}\n}\n\n/* int gforce(int i, int pos) {\n\tint angle;\n\tswitch (i) {\n\t\tcase MY_LIFT:\n\t\t\t_armangle[MY_LIFT] = angle = (pos - _zeroangle[MY_LIFT]) / 3;\n\t\t\tangle = abs(angle);\n\t\t\tbreak;\n\t\tcase MY_CURL:\n\t\t\t_armangle[MY_CURL] = angle = (999 - pos - _zeroangle[MY_CURL]) / 2;\n\t\t\tangle += _armangle[MY_LIFT];\n\t\t\tangle = abs(angle);\n\t\t\tbreak;\n\t\tdefault:\n\t\t\treturn 0;\n\t}\n\tif (angle &gt; 250) angle = 500 - angle;\n\treturn _gforce[i] = _cos[angle];\n}\n*/\n\nint number(const char *digits) {\n\tint value = 0;\n\twhile (1) {\n\t\tchar c = *digits++;\n\t\tif (c &gt;= &#39;0&#39; &amp;&amp; c &lt;= &#39;9&#39;) {\n\t\t\tvalue = value * 10 + c - &#39;0&#39;;\n\t\t} else {\n\t\t\treturn value;\n\t\t}\n\t}\n}\t\t\n\nvoid chain(const char *cmds) {\n\tchar c;\n\twhile (1) {\n\t  switch (c = *cmds++) {\n\t  \tcase &#39;S&#39;:\n\t  \t\t_nextspd = number(cmds);\n\t  \t\tbreak;\n\t  \tcase &#39;L&#39;:\n\t  \t\trun_servo(MY_LIFT, number(cmds));\n\t  \t\tbreak;\n\t  \tcase &#39;C&#39;:\n\t  \t\trun_servo(MY_CURL, 999 - number(cmds));\n\t  \t\tbreak;\n\t  \tcase &#39;R&#39;:\n\t  \t\trun_servo(MY_ROTATE, number(cmds));\n\t  \t\tbreak;\n\t  \tcase &#39;W&#39;:\n\t  \t\tarm_wait();\n\t  \t\tpause(number(cmds));\n\t  \t\tbreak;\n\t  \tcase &#39;P&#39;:\n\t  \t\tpause(number(cmds));\n\t  \t\tbreak;\n\t  \tcase &#39;G&#39;:\n\t  \t\tgrip_angle(number(cmds));\n\t  \t\tbreak;\n\t  \tcase &#39;\\0&#39;:\n\t  \t\t*cmds--;\n\t  \t\treturn;\n\t  }\n\t}\n}\n\nint sigmoid(int curr_t, int total_t) {\n\tint i = curr_t * 4096 / total_t;\n\tint p = i % 16;\n\ti &gt;&gt;= 4;\n\treturn (_sigmoid[i] * (16 - p) + _sigmoid[i + 1] * p) &gt;&gt; 4;\n}\n\nvoid run_servos() {\n  int _20ms = CLKFREQ / 52;\n  while (1) {\n    _t = CNT;\n    int maxerr = 0;\n    int srvspd;\n    for (int i = 0; i &lt;= 2; i++) {\n      int t1 = (pulse_in(_feedback[i], 1));\n      if (t1 == 0) continue;\n      int t2 = (pulse_in(_feedback[i], 0));\n      int pos = constrainInt(( ((1000 * t1) / (t1 + t2)) - 29) * 1000 / 941, 0, 999);\n//\t\t\tint gravity = (gforce(i, pos) * _defaultbias[i]) &gt;&gt; 8;\n      if (_targpos[i] &gt; 0) {\n      \tint err = abs(_currt[i] - _totalt[i]);\n      \tif (err &gt; maxerr) maxerr = err;\n      \t_currt[i] = constrainInt(_currt[i] + 256, 0, _totalt[i]);\n      \tint relpos = sigmoid(_currt[i], _totalt[i]);\n      \t_interpos[i] = (_initpos[i] * (32767 - relpos) + _targpos[i] * relpos) &gt;&gt; 15;\n      \terr = _interpos[i] - pos;\n      \tint errspd = -err * 2;\n     \t\t_servospd[i] = (_servospd[i] * 5  + errspd * 12) / 17;\n        if (_servospd[i] &lt; 0) {\n        \tpulse_out(_servo[i], 1480 + _servospd[i]);\n        } else {\n        \tpulse_out(_servo[i], 1520 + _servospd[i]);\n        }\n      }\n      _currpos[i] = pos;\n    }\n    _maxerror = maxerr;\n    while (CNT - _t &lt; _20ms) {}\n  }\n}\n&quot;,&quot;SETUPS&quot;:&quot;&quot;,&quot;LABEL_SET&quot;:&quot;Start Robot Arm&quot;,&quot;FUNCTIONS&quot;:&quot;&quot;,&quot;TYPE&quot;:&quot;INL&quot;}"></mutation><field name="EDIT">FALSE</field></block><block type="custom_code_multiple" id="NbpsIdZwGx%dt,/VIk)#" x="-882" y="-1846"><mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Chain arm&quot;,&quot;LABEL_ARG1&quot;:&quot;commands&quot;,&quot;MAIN&quot;:&quot;chain(\&quot;\&quot; @1);&quot;}"></mutation><field name="EDIT">FALSE</field></block><block type="custom_code_multiple" id="]B/In@e`0@D2!OXm/#bw" x="-882" y="-1766"><mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Set grip&quot;,&quot;MAIN&quot;:&quot;grip_angle(@1 + 0);&quot;,&quot;LABEL_ARG1&quot;:&quot;position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;TYPE&quot;:&quot;INL&quot;}"></mutation><field name="EDIT">FALSE</field></block><block type="custom_code_multiple" id="c[aVcI2qRuEh+@aDmMna" x="-879" y="-1683"><mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:&quot;#992673&quot;,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Set arm&quot;,&quot;LABEL_ARG1&quot;:&quot;speed&quot;,&quot;MAIN&quot;:&quot;_nextspd = @1+0;&quot;}"></mutation><field name="EDIT">FALSE</field></block><block type="custom_code_multiple" id="6c:Jlqza)d,g}`rhLf?^" x="-874" y="-1602"><mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Set lift&quot;,&quot;LABEL_ARG1&quot;:&quot;position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;MAIN&quot;:&quot;run_servo(0, @1+0);&quot;,&quot;LABEL_ARG3&quot;:&quot;Wait?&quot;}"></mutation><field name="EDIT">FALSE</field></block><block type="custom_code_multiple" id="YEvXy;r6rN{k44g9G?~Y" x="-871" y="-1521"><mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:&quot;#992673&quot;,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Set curl&quot;,&quot;LABEL_ARG1&quot;:&quot;position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;MAIN&quot;:&quot;#if @1+0\n  run_servo(1, 999 - (@1+0));\n#else\n  run_servo(1, 0);\n#endif\n&quot;,&quot;FUNCTIONS&quot;:&quot;&quot;,&quot;LABEL_ARG3&quot;:&quot;Wait?&quot;,&quot;INCLUDES&quot;:&quot;&quot;,&quot;GLOBALS&quot;:&quot;&quot;,&quot;SETUPS&quot;:&quot;&quot;,&quot;TYPE&quot;:&quot;INL&quot;}"></mutation><field name="EDIT">FALSE</field></block><block type="custom_code_multiple" id="cpr}8CqXTFPUt}W2KiLb" x="-873" y="-1433"><mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Set rotate&quot;,&quot;MAIN&quot;:&quot;run_servo(2, @1+0);&quot;,&quot;LABEL_ARG1&quot;:&quot;position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;LABEL_ARG3&quot;:&quot;Wait?&quot;}"></mutation><field name="EDIT">FALSE</field></block><block type="custom_code_multiple" id="0))f6DjP|:DFk.,l?/9m" x="-874" y="-1354"><mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Wait for arms&quot;,&quot;MAIN&quot;:&quot;arm_wait();\n&quot;}"></mutation><field name="EDIT">FALSE</field></block><block type="custom_code_multiple" id="4@qsE09AK_9!W8rW7o%_" x="-866" y="-1289"><mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Lift position&quot;,&quot;TYPE&quot;:&quot;NUM&quot;,&quot;MAIN&quot;:&quot;_currpos[0]&quot;}"></mutation><field name="EDIT">FALSE</field></block><block type="custom_code_multiple" id="D$][cLdiucpT{Tu9RjmM" x="-863" y="-1231"><mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Curl Position&quot;,&quot;TYPE&quot;:&quot;NUM&quot;,&quot;MAIN&quot;:&quot;999 - _currpos[1]&quot;}"></mutation><field name="EDIT">FALSE</field></block><block type="custom_code_multiple" id="IGi5V*UgzHbr1|+$`HU`" x="-862" y="-1176"><mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Rotate Position&quot;,&quot;TYPE&quot;:&quot;NUM&quot;,&quot;MAIN&quot;:&quot;_currpos[2]&quot;}"></mutation><field name="EDIT">FALSE</field></block><category xmlns="http://www.w3.org/1999/xhtml" name="Robot Arm">';
+xmlToolbox += '    	    <block type="custom_code_multiple" id="+a[N6Llzs)Pm=*UJO7_v" x="-718" y="-979">';
+xmlToolbox += '    	        <mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;3&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Lift&quot;,&quot;LABEL_ARG1&quot;:&quot;Position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;MAIN&quot;:&quot;run_servo(0, @1, @2, @3);&quot;,&quot;LABEL_ARG3&quot;:&quot;Wait?&quot;}">';
+xmlToolbox += '    	        </mutation>';
+xmlToolbox += '    	        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    	        <value name="ARG3">';
+xmlToolbox += '    	            <block type="logic_boolean" id="982EG05=s`Ka9@rdfQl`">';
+xmlToolbox += '    	                <field name="BOOL">TRUE</field>';
+xmlToolbox += '    	            </block>';
+xmlToolbox += '    	        </value>';
+xmlToolbox += '    	    </block>';
+xmlToolbox += '    	    <block type="custom_code_multiple" id="Ar_A2.MykqflYw$`NAPV" x="-718" y="-848">';
+xmlToolbox += '    	        <mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;3&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Curl&quot;,&quot;LABEL_ARG1&quot;:&quot;Position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;MAIN&quot;:&quot;run_servo(1, 999 - @1, @2, @3);&quot;,&quot;FUNCTIONS&quot;:&quot;&quot;,&quot;LABEL_ARG3&quot;:&quot;Wait?&quot;}">';
+xmlToolbox += '    	        </mutation>';
+xmlToolbox += '    	        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    	        <value name="ARG3">';
+xmlToolbox += '    	            <block type="logic_boolean" id="mx~Op*@FL%;}`#|SO(10">';
+xmlToolbox += '    	                <field name="BOOL">TRUE</field>';
+xmlToolbox += '    	            </block>';
+xmlToolbox += '    	        </value>';
+xmlToolbox += '    	    </block>';
+xmlToolbox += '    	    <block type="custom_code_multiple" id="dn0x^A52Ff7!Wmff6EA;" x="-718" y="-718">';
+xmlToolbox += '    	        <mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;3&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Rotate&quot;,&quot;MAIN&quot;:&quot;run_servo(2, @1, @2, @3);&quot;,&quot;LABEL_ARG1&quot;:&quot;Position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;LABEL_ARG3&quot;:&quot;Wait?&quot;}">';
+xmlToolbox += '    	        </mutation>';
+xmlToolbox += '    	        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    	        <value name="ARG3">';
+xmlToolbox += '    	            <block type="logic_boolean" id="CX2FDF]b#n:4=u[AewBA">';
+xmlToolbox += '    	                <field name="BOOL">TRUE</field>';
+xmlToolbox += '    	            </block>';
+xmlToolbox += '    	        </value>';
+xmlToolbox += '    	    </block>';
+xmlToolbox += '    	    <block type="custom_code_multiple" id="Xrkb,#,?^:U{W{%%?6#*" x="-718" y="-586">';
+xmlToolbox += '    	        <mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Grip&quot;,&quot;MAIN&quot;:&quot;servo_angle(13, @1)&quot;,&quot;LABEL_ARG1&quot;:&quot;Position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;TYPE&quot;:&quot;INL&quot;}">';
+xmlToolbox += '    	        </mutation>';
+xmlToolbox += '    	        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    	    </block>';
+xmlToolbox += '    	    <block type="custom_code_multiple" id="v0;qQWz![UP)DU!M;(p?" x="-711" y="-510">';
+xmlToolbox += '    	        <mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Lift Position&quot;,&quot;TYPE&quot;:&quot;NUM&quot;,&quot;MAIN&quot;:&quot;_currpos[0]&quot;}">';
+xmlToolbox += '    	        </mutation>';
+xmlToolbox += '    	        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    	    </block>';
+xmlToolbox += '    	    <block type="custom_code_multiple" id="C,Lm*A|^Z5nmqM_|]UK*" x="-711" y="-462">';
+xmlToolbox += '    	        <mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Curl Position&quot;,&quot;TYPE&quot;:&quot;NUM&quot;,&quot;MAIN&quot;:&quot;999 - _currpos[1]&quot;}">';
+xmlToolbox += '    	        </mutation>';
+xmlToolbox += '    	        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    	    </block>';
+xmlToolbox += '    	    <block type="custom_code_multiple" id="I8Hbr|Y[OIg5]+~y@Lk7" x="-713" y="-410">';
+xmlToolbox += '    	        <mutation xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Rotate Position&quot;,&quot;TYPE&quot;:&quot;NUM&quot;,&quot;MAIN&quot;:&quot;_currpos[2]&quot;}">';
+xmlToolbox += '    	        </mutation>';
+xmlToolbox += '    	        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    	    </block>';
+xmlToolbox += '  </category>';
+xmlToolbox += '  <category name="PTHS Robot Arm">';
+xmlToolbox += '    <block type="custom_code_multiple" id="gND^n:Y+vVu4NcaGZmGn" >';
+xmlToolbox += '        <mutation';
+xmlToolbox += '            xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:&quot;#992673&quot;,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;MAIN&quot;:&quot;cog_run(run_servos, 128);\npause(1000);&quot;,&quot;GLOBALS&quot;:&quot;&quot;,&quot;INCLUDES&quot;:&quot;#include \&quot;servo.h\&quot;\n#define MY_MAXSPD 100\n#define MY_MINSPD  20\n#define MY_MAXPOS 990\n#define MY_MINPOS  10\n#define MY_LIFT     0\n#define MY_CURL     1\n#define MY_ROTATE   2\n#define LIFT_ZERO 215\n#define CURL_ZERO 844\n\nint _servo[3] = {17, 15, 14};\nint _feedback[3] = {16, 11, 10};\nint _initpos[3];\nint _interpos[3];\nint _targpos[3] = {0, 0, 0};\nint _speed[3] = {0, 0, 0};\nint _currt[3] = {0, 0, 0};\nint _totalt[3] = {0, 0, 0};\nint _servospd[3]= {0, 0, 0};\nint _currpos[3];\nint _currspd[3];\n//int _armangle[3];\n//int _zeroangle[3] = {215, 844, 500};\nint _nextspd = MY_MINSPD;\nint _lastgrip = 200;\nint _maxerror = 0;\nint _t;\n\nshort _sigmoid[257] = {\n      0,    8,   16,   25,   34,   44,   54,   64,   75,   86,   97,  109,  122,  135,  149,  163,\n    178,  193,  209,  225,  242,  260,  279,  298,  318,  339,  361,  383,  407,  431,  456,  483,\n    510,  538,  568,  599,  630,  663,  698,  733,  771,  809,  849,  890,  933,  978, 1024, 1073,\n   1122, 1174, 1228, 1284, 1342, 1401, 1464, 1528, 1595, 1664, 1736, 1810, 1887, 1966, 2049, 2134,\n   2223, 2314, 2409, 2506, 2608, 2712, 2820, 2932, 3047, 3166, 3289, 3416, 3547, 3682, 3822, 3965,\n   4113, 4265, 4422, 4584, 4750, 4921, 5096, 5277, 5462, 5653, 5848, 6048, 6254, 6464, 6680, 6900,\n   7126, 7357, 7593, 7834, 8080, 8331, 8587, 8848, 9113, 9384, 9659, 9938,10222,10510,10802,11098,\n  11398,11701,12008,12318,12631,12947,13266,13587,13911,14236,14563,14891,15220,15551,15882,16213,\n  16545,16876,17207,17538,17867,18196,18523,18848,19171,19492,19811,20127,20440,20750,21057,21361,\n  21660,21956,22249,22536,22820,23100,23374,23645,23910,24171,24427,24678,24924,25165,25401,25632,\n  25858,26078,26294,26505,26710,26910,27106,27296,27481,27662,27837,28008,28174,28336,28493,28645,\n  28793,28937,29076,29211,29342,29469,29592,29711,29826,29938,30046,30151,30252,30350,30444,30536,\n  30624,30709,30792,30871,30948,31023,31094,31163,31230,31295,31357,31417,31475,31530,31584,31636,\n  31686,31734,31780,31825,31868,31909,31949,31988,32025,32060,32095,32128,32160,32190,32220,32248,\n  32275,32302,32327,32351,32375,32397,32419,32440,32460,32479,32498,32516,32533,32549,32565,32581,\n  32595,32610,32623,32636,32649,32661,32672,32684,32694,32705,32715,32724,32733,32742,32751,32759,\n  32767\n};\n\nchar _cos[251] = {\n  255,255,255,255,255,255,255,255,255,255,\n  254,254,254,254,254,254,254,254,253,253,\n  253,253,253,252,252,252,252,251,251,251,\n  250,250,250,250,249,249,249,248,248,247,\n  247,247,246,246,245,245,244,244,243,243,\n  243,242,242,241,240,240,239,239,238,238,\n  237,236,236,235,235,234,233,233,232,231,\n  231,230,229,229,228,227,226,226,225,224,\n  223,223,222,221,220,219,219,218,217,216,\n  215,214,214,213,212,211,210,209,208,207,\n  206,205,204,203,202,201,201,200,199,197,\n  196,195,194,193,192,191,190,189,188,187,\n  186,185,184,183,181,180,179,178,177,176,\n  175,173,172,171,170,169,167,166,165,164,\n  163,161,160,159,158,156,155,154,152,151,\n  150,149,147,146,145,143,142,141,139,138,\n  137,135,134,133,131,130,128,127,126,124,\n  123,121,120,119,117,116,114,113,111,110,\n  109,107,106,104,103,101,100, 98, 97, 95,\n   94, 92, 91, 89, 88, 86, 85, 83, 82, 80,\n   79, 77, 76, 74, 73, 71, 70, 68, 67, 65,\n   63, 62, 60, 59, 57, 56, 54, 52, 51, 49,\n   48, 46, 45, 43, 41, 40, 38, 37, 35, 34,\n   32, 30, 29, 27, 26, 24, 22, 21, 19, 18,\n   16, 14, 13, 11, 10,  8,  6,  5,  3,  2,\n    0\n};\n\nvoid run_servo(int i, int pos) {\n  if (i &gt;= 0 &amp;&amp; i &lt;= 2) {\n    _targpos[i] = 0;\n    if (pos &gt; 0) {\n      _servospd[i] = 0;\n      _currt[i] = 0;\n      _speed[i] = constrainInt(_nextspd, MY_MINSPD, MY_MAXSPD) * 10;\n      _totalt[i] = constrainInt((abs(pos - _currpos[i]) &lt;&lt; 15) / _speed[i], 1, 256000);\n      _initpos[i] = _interpos[i] = _currpos[i];\n      _targpos[i] = constrainInt(pos, MY_MINPOS, MY_MAXPOS);\n    }\n  }\n}\n\nvoid grip_angle(int angle) {\n\tint ang = constrainInt(angle, 0, 400);\n\tif (ang &gt; _lastgrip) {\n\t\tfor (int i = _lastgrip; i &lt;= ang; i += 10) {\n\t\t\tservo_angle(13, i);\n\t\t\tpause(25);\n\t\t}\n\t} else {\n\t\tfor (int i = _lastgrip; i &gt;= ang; i -= 10) {\n\t\t\tservo_angle(13, i);\n\t\t\tpause(25);\n\t\t}\n  }\t\t\n\t_lastgrip = ang;\n}\t\n\nvoid arm_wait() {\n\tpause(75);\n\twhile (_maxerror &gt; 2) {pause(50);}\n}\n\n/* int gforce(int i, int pos) {\n\tint angle;\n\tswitch (i) {\n\t\tcase MY_LIFT:\n\t\t\t_armangle[MY_LIFT] = angle = (pos - _zeroangle[MY_LIFT]) / 3;\n\t\t\tangle = abs(angle);\n\t\t\tbreak;\n\t\tcase MY_CURL:\n\t\t\t_armangle[MY_CURL] = angle = (999 - pos - _zeroangle[MY_CURL]) / 2;\n\t\t\tangle += _armangle[MY_LIFT];\n\t\t\tangle = abs(angle);\n\t\t\tbreak;\n\t\tdefault:\n\t\t\treturn 0;\n\t}\n\tif (angle &gt; 250) angle = 500 - angle;\n\treturn _gforce[i] = _cos[angle];\n}\n*/\n\nint number(const char *digits) {\n\tint value = 0;\n\twhile (1) {\n\t\tchar c = *digits++;\n\t\tif (c &gt;= &#39;0&#39; &amp;&amp; c &lt;= &#39;9&#39;) {\n\t\t\tvalue = value * 10 + c - &#39;0&#39;;\n\t\t} else {\n\t\t\treturn value;\n\t\t}\n\t}\n}\t\t\n\nvoid chain(const char *cmds) {\n\tchar c;\n\twhile (1) {\n\t  switch (c = *cmds++) {\n\t  \tcase &#39;S&#39;:\n\t  \t\t_nextspd = number(cmds);\n\t  \t\tbreak;\n\t  \tcase &#39;L&#39;:\n\t  \t\trun_servo(MY_LIFT, number(cmds));\n\t  \t\tbreak;\n\t  \tcase &#39;C&#39;:\n\t  \t\trun_servo(MY_CURL, 999 - number(cmds));\n\t  \t\tbreak;\n\t  \tcase &#39;R&#39;:\n\t  \t\trun_servo(MY_ROTATE, number(cmds));\n\t  \t\tbreak;\n\t  \tcase &#39;W&#39;:\n\t  \t\tarm_wait();\n\t  \t\tpause(number(cmds));\n\t  \t\tbreak;\n\t  \tcase &#39;P&#39;:\n\t  \t\tpause(number(cmds));\n\t  \t\tbreak;\n\t  \tcase &#39;G&#39;:\n\t  \t\tgrip_angle(number(cmds));\n\t  \t\tbreak;\n\t  \tcase 0:\n\t  \t\t*cmds--;\n\t  \t\treturn;\n\t  }\n\t}\n}\n\nint sigmoid(int curr_t, int total_t) {\n\tint i = curr_t * 4096 / total_t;\n\tint p = i % 16;\n\ti &gt;&gt;= 4;\n\treturn (_sigmoid[i] * (16 - p) + _sigmoid[i + 1] * p) &gt;&gt; 4;\n}\n\nvoid run_servos() {\n  int _20ms = CLKFREQ / 52;\n  while (1) {\n    _t = CNT;\n    int maxerr = 0;\n    int srvspd;\n    for (int i = 0; i &lt;= 2; i++) {\n      int t1 = (pulse_in(_feedback[i], 1));\n      if (t1 == 0) continue;\n      int t2 = (pulse_in(_feedback[i], 0));\n      int pos = constrainInt(( ((1000 * t1) / (t1 + t2)) - 29) * 1000 / 941, 0, 999);\n//\t\t\tint gravity = (gforce(i, pos) * _defaultbias[i]) &gt;&gt; 8;\n      if (_targpos[i] &gt; 0) {\n      \tint err = abs(_currt[i] - _totalt[i]);\n      \tif (err &gt; maxerr) maxerr = err;\n      \t_currt[i] = constrainInt(_currt[i] + 256, 0, _totalt[i]);\n      \tint relpos = sigmoid(_currt[i], _totalt[i]);\n      \t_interpos[i] = (_initpos[i] * (32767 - relpos) + _targpos[i] * relpos) &gt;&gt; 15;\n      \terr = _interpos[i] - pos;\n      \tint errspd = -err * 2;\n     \t\t_servospd[i] = (_servospd[i] * 5  + errspd * 12) / 17;\n        if (_servospd[i] &lt; 0) {\n        \tpulse_out(_servo[i], 1480 + _servospd[i]);\n        } else {\n        \tpulse_out(_servo[i], 1520 + _servospd[i]);\n        }\n      }\n      _currpos[i] = pos;\n    }\n    _maxerror = maxerr;\n    while (CNT - _t &lt; _20ms) {}\n  }\n}\n&quot;,&quot;SETUPS&quot;:&quot;&quot;,&quot;LABEL_SET&quot;:&quot;Start Robot Arm&quot;,&quot;FUNCTIONS&quot;:&quot;&quot;,&quot;TYPE&quot;:&quot;INL&quot;}">';
+xmlToolbox += '        </mutation>';
+xmlToolbox += '        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    </block>';
+xmlToolbox += '    <block type="custom_code_multiple" id="NbpsIdZwGx%dt,/VIk)#" >';
+xmlToolbox += '        <mutation';
+xmlToolbox += '            xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Chain arm&quot;,&quot;LABEL_ARG1&quot;:&quot;commands&quot;,&quot;MAIN&quot;:&quot;chain(\&quot;\&quot; @1);&quot;}">';
+xmlToolbox += '        </mutation>';
+xmlToolbox += '        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    </block>';
+xmlToolbox += '    <block type="custom_code_multiple" id="]B/In@e`0@D2!OXm/#bw" >';
+xmlToolbox += '        <mutation';
+xmlToolbox += '            xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Set grip&quot;,&quot;MAIN&quot;:&quot;grip_angle(@1 + 0);&quot;,&quot;LABEL_ARG1&quot;:&quot;position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;TYPE&quot;:&quot;INL&quot;}">';
+xmlToolbox += '        </mutation>';
+xmlToolbox += '        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    </block>';
+xmlToolbox += '    <block type="custom_code_multiple" id="c[aVcI2qRuEh+@aDmMna" >';
+xmlToolbox += '        <mutation';
+xmlToolbox += '            xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:&quot;#992673&quot;,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Set arm&quot;,&quot;LABEL_ARG1&quot;:&quot;speed&quot;,&quot;MAIN&quot;:&quot;_nextspd = @1+0;&quot;}">';
+xmlToolbox += '        </mutation>';
+xmlToolbox += '        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    </block>';
+xmlToolbox += '    <block type="custom_code_multiple" id="6c:Jlqza)d,g}`rhLf?^" >';
+xmlToolbox += '        <mutation';
+xmlToolbox += '            xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Set lift&quot;,&quot;LABEL_ARG1&quot;:&quot;position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;MAIN&quot;:&quot;run_servo(0, @1+0);&quot;,&quot;LABEL_ARG3&quot;:&quot;Wait?&quot;}">';
+xmlToolbox += '        </mutation>';
+xmlToolbox += '        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    </block>';
+xmlToolbox += '    <block type="custom_code_multiple" id="YEvXy;r6rN{k44g9G?~Y" >';
+xmlToolbox += '        <mutation';
+xmlToolbox += '            xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:&quot;#992673&quot;,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Set curl&quot;,&quot;LABEL_ARG1&quot;:&quot;position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;MAIN&quot;:&quot;#if @1+0\n  run_servo(1, 999 - (@1+0));\n#else\n  run_servo(1, 0);\n#endif\n&quot;,&quot;FUNCTIONS&quot;:&quot;&quot;,&quot;LABEL_ARG3&quot;:&quot;Wait?&quot;,&quot;INCLUDES&quot;:&quot;&quot;,&quot;GLOBALS&quot;:&quot;&quot;,&quot;SETUPS&quot;:&quot;&quot;,&quot;TYPE&quot;:&quot;INL&quot;}">';
+xmlToolbox += '        </mutation>';
+xmlToolbox += '        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    </block>';
+xmlToolbox += '    <block type="custom_code_multiple" id="cpr}8CqXTFPUt}W2KiLb" >';
+xmlToolbox += '        <mutation';
+xmlToolbox += '            xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;1&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Set rotate&quot;,&quot;MAIN&quot;:&quot;run_servo(2, @1+0);&quot;,&quot;LABEL_ARG1&quot;:&quot;position&quot;,&quot;LABEL_ARG2&quot;:&quot;Speed&quot;,&quot;LABEL_ARG3&quot;:&quot;Wait?&quot;}">';
+xmlToolbox += '        </mutation>';
+xmlToolbox += '        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    </block>';
+xmlToolbox += '    <block type="custom_code_multiple" id="0))f6DjP|:DFk.,l?/9m" >';
+xmlToolbox += '        <mutation';
+xmlToolbox += '            xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Wait for arms&quot;,&quot;MAIN&quot;:&quot;arm_wait();\n&quot;}">';
+xmlToolbox += '        </mutation>';
+xmlToolbox += '        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    </block>';
+xmlToolbox += '    <block type="custom_code_multiple" id="4@qsE09AK_9!W8rW7o%_" >';
+xmlToolbox += '        <mutation';
+xmlToolbox += '            xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Lift position&quot;,&quot;TYPE&quot;:&quot;NUM&quot;,&quot;MAIN&quot;:&quot;_currpos[0]&quot;}">';
+xmlToolbox += '        </mutation>';
+xmlToolbox += '        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    </block>';
+xmlToolbox += '    <block type="custom_code_multiple" id="D$][cLdiucpT{Tu9RjmM" >';
+xmlToolbox += '        <mutation';
+xmlToolbox += '            xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Curl Position&quot;,&quot;TYPE&quot;:&quot;NUM&quot;,&quot;MAIN&quot;:&quot;999 - _currpos[1]&quot;}">';
+xmlToolbox += '        </mutation>';
+xmlToolbox += '        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    </block>';
+xmlToolbox += '    <block type="custom_code_multiple" id="IGi5V*UgzHbr1|+$`HU`" >';
+xmlToolbox += '        <mutation';
+xmlToolbox += '            xmlns="http://www.w3.org/1999/xhtml" field_values="{&quot;ARG_COUNT&quot;:&quot;0&quot;,&quot;COLOR&quot;:320,&quot;EDIT&quot;:&quot;FALSE&quot;,&quot;LABEL_SET&quot;:&quot;Rotate Position&quot;,&quot;TYPE&quot;:&quot;NUM&quot;,&quot;MAIN&quot;:&quot;_currpos[2]&quot;}">';
+xmlToolbox += '        </mutation>';
+xmlToolbox += '        <field name="EDIT">FALSE</field>';
+xmlToolbox += '    </block>';
+xmlToolbox += '  </category>';
 xmlToolbox += '</xml>';
 
 var colorChanges = {
diff --git a/src/blocklyc.js b/src/blocklyc.js
index 33e8de04..7e928438 100644
--- a/src/blocklyc.js
+++ b/src/blocklyc.js
@@ -557,7 +557,7 @@ function getCompilerUrl(action) {
     }
 
     // Direct compilation to the cloud compiler service
-    return  window.location.protocol + '//' + window.location.hostname + 'compile/single/prop-c/' + action;
+    return  window.location.protocol + '//' + window.location.hostname + '//solo.parallax.com/compile/single/prop-c/' + action;
 }