diff --git a/src/main/resources/com/parallax/server/blocklyprop/internationalization/translations.properties b/src/main/resources/com/parallax/server/blocklyprop/internationalization/translations.properties
index 23bab3a0..8700057a 100644
--- a/src/main/resources/com/parallax/server/blocklyprop/internationalization/translations.properties
+++ b/src/main/resources/com/parallax/server/blocklyprop/internationalization/translations.properties
@@ -156,7 +156,7 @@ register.do.email = Email:
 register.do.password = Password:
 register.do.confirm_password = Confirm password:
 register.do.submit = Register
-register.done.title = Register successful
+register.done.title = Registration successful
 register.done.text = Please check your email to confirm your email account.
 register.error.email_already_used = Email already used
 register.error.passwords_dont_match = Passwords don't match
diff --git a/src/main/webapp/cdn/blockly/generators/propc/base.js b/src/main/webapp/cdn/blockly/generators/propc/base.js
index 90f98d04..6cc1d654 100644
--- a/src/main/webapp/cdn/blockly/generators/propc/base.js
+++ b/src/main/webapp/cdn/blockly/generators/propc/base.js
@@ -76,7 +76,7 @@ Blockly.Blocks.math_number = {
             this.setHelpUrl(Blockly.MSG_S3_MATH_HELPURL);
             this.setColour(colorPalette.getColor('math'));
         } else {
-            this.setHelpUrl(Blockly.Blockly.MSG_VALUES_HELPURL);
+            this.setHelpUrl(Blockly.MSG_VALUES_HELPURL);
             this.setColour(colorPalette.getColor('programming'));
         }
         this.setTooltip(Blockly.MSG_MATH_NUMBER_TOOLTIP);
diff --git a/src/main/webapp/cdn/blockly/generators/propc/s3.js b/src/main/webapp/cdn/blockly/generators/propc/s3.js
index 664d7ab4..9b34f5de 100644
--- a/src/main/webapp/cdn/blockly/generators/propc/s3.js
+++ b/src/main/webapp/cdn/blockly/generators/propc/s3.js
@@ -1658,4 +1658,42 @@ Blockly.propc.mic_s3_get = function () {
 
     var code = 's3_readMic()';
     return [code, Blockly.propc.ORDER_NONE];
-};
\ No newline at end of file
+};
+
+Blockly.Blocks.calibrate_line_sensor = {
+    init: function () {
+        this.setColour(colorPalette.getColor('input'));
+        this.appendDummyInput()
+                .appendField("line sensor calibrate");
+        this.setPreviousStatement(true, null);
+        this.setNextStatement(true, null);
+        this.setHelpUrl(Blockly.MSG_S3_SENSORS_HELPURL);
+        this.setTooltip(Blockly.MSG_S3_LINE_CALIBRATE_TOOLTIP);
+    }
+};
+
+Blockly.propc.calibrate_line_sensor = function () {
+    Blockly.propc.definitions_[ "include_scribbler" ] = '#include "s3.h"';
+    Blockly.propc.setups_[ 's3_setup' ] = 's3_setup();pause(1000);';
+
+    var func = 'void s3_calibrate_line_sensor(void) {int __lineSenCal[4];\n__lineSenCal[0] = ';
+    func += 's3_lineSensor(S3_LEFT);\n__lineSenCal[1] = s3_lineSensor(S3_RIGHT);\n__lineSenCal[2] = ';
+    func += 's3_lineSensor(S3_LEFT);\n__lineSenCal[3] = s3_lineSensor(S3_RIGHT);\n';
+    func += 'int __calibrate_timer = CNT + (CLKFREQ/1000) * 3672;\ns3_motorSet(75, -75, 0);';
+    func += '\nwhile(CNT < __calibrate_timer) {int __tempLineSen = s3_lineSensor(S3_LEFT);\n';
+    func += 'if (__tempLineSen < __lineSenCal[0]) __lineSenCal[0] = __tempLineSen;\n';
+    func += 'if (__tempLineSen > __lineSenCal[1]) __lineSenCal[1] = __tempLineSen;\n';
+    func += '__tempLineSen = s3_lineSensor(S3_RIGHT);\nif (__tempLineSen < __lineSenCal[2]) ';
+    func += '__lineSenCal[2] = __tempLineSen;\nif (__tempLineSen > __lineSenCal[3]) ';
+    func += '__lineSenCal[3] = __tempLineSen;}s3_motorSet(0, 0, 0);\n';
+    func += 'if (__lineSenCal[2] > __lineSenCal[0]) __lineSenCal[0] = __lineSenCal[2];\n';
+    func += 'if (__lineSenCal[3] < __lineSenCal[1]) __lineSenCal[1] = __lineSenCal[3];\n';
+    func += 'scribbler_set_line_threshold((__lineSenCal[0] + __lineSenCal[1]) / 2);\n';
+    func += 'scribbler_write_line_threshold();\n}';
+
+    Blockly.propc.methods_["s3_calibrate_line_sensor"] = func;
+    Blockly.propc.method_declarations_["s3_calibrate_line_sensor"] = 
+            'void s3_calibrate_line_sensor(void);';
+
+    return 's3_calibrate_line_sensor();';
+};
diff --git a/src/main/webapp/cdn/blockly/generators/propc/sensors.js b/src/main/webapp/cdn/blockly/generators/propc/sensors.js
index 81ee55c0..95559e0b 100644
--- a/src/main/webapp/cdn/blockly/generators/propc/sensors.js
+++ b/src/main/webapp/cdn/blockly/generators/propc/sensors.js
@@ -932,7 +932,7 @@ Blockly.Blocks.lsm9ds1_tilt = {
 };
 
 Blockly.propc.lsm9ds1_tilt = function () {
-    var t1_axis = '__imu' + this.getFieldValue('A1')[0].toUpperCase();
+    var t1_axis = '__imu' + this.getFieldValue('A1')[6].toUpperCase();
     var t2_axis = '__imu' + this.getFieldValue('A2')[0].toUpperCase();
     var g_axis = '__imu' + this.getFieldValue('G_AXIS');
     var storage1 = Blockly.propc.variableDB_.getName(this.getFieldValue('VAR1'), Blockly.Variables.NAME_TYPE);
diff --git a/src/main/webapp/cdn/blockly/language/en/_messages.js b/src/main/webapp/cdn/blockly/language/en/_messages.js
index 0111fea5..1beb4439 100644
--- a/src/main/webapp/cdn/blockly/language/en/_messages.js
+++ b/src/main/webapp/cdn/blockly/language/en/_messages.js
@@ -489,6 +489,7 @@ Blockly.MSG_S3_LOGIC_OPERATION_TOOLTIP = "boolean comparison: and, or, and not,
 Blockly.MSG_S3_LOGIC_NEGATE_TOOLTIP = "not: returns false if input is true and true if input is false";
 Blockly.MSG_S3_LOGIC_COMPARE_TOOLTIP = "compare values: boolean comparison returns true or false";
 Blockly.MSG_S3_LINE_SENSOR_TOOLTIP = "line sensor reading: detection of a line by the sensors under the Scribbler";
+Blockly.MSG_S3_LINE_CALIBRATE_TOOLTIP = "line sensor calibrate: Use this block at the top of a line following program.\nSpins the Scribbler robot in place and calibrates the\nline following sensors by scanning the surface beneath it."
 Blockly.MSG_S3_OBSTACLE_SENSOR_TOOLTIP = "obstacle sensor reading: detection of obstacles from the front sensors";
 Blockly.MSG_S3_LIGHT_SENSOR_TOOLTIP = "light sensor reading: measurements of light from the front sensors";
 Blockly.MSG_S3_STALL_SENSOR_TOOLTIP = "tail wheel stall: returns true of tail wheel is not spinning";
diff --git a/src/main/webapp/frame/framec.jsp b/src/main/webapp/frame/framec.jsp
index 1f9886e0..fc22ab34 100644
--- a/src/main/webapp/frame/framec.jsp
+++ b/src/main/webapp/frame/framec.jsp
@@ -1322,6 +1322,7 @@
         </category>
         <category name="<fmt:message key="category.sensor-input" />" include="s3" colour=140>
             <category name="<fmt:message key="category.sensor-input.s3-line" />">
+                <block type="calibrate_line_sensor"></block>
                 <block type="scribbler_if_line"></block>
                 <block type="line_sensor"></block>
             </category>