Merge pull request #253 from Open-STEM/F-staging-release

Updated XRPLib for Nano

Author: kcq888

public/XRPLib.zip

@@ -0,0 +1,81 @@
+from XRPLib.defaults import *
+import time
+
+"""
+    By the end of this file students will learn how to use the Buzzer class
+    to play individual notes, custom songs, and how to make the robot 
+    play music while it is moving.
+"""
+
+def simple_scale():
+    """Plays a basic C major scale."""
+    print("Playing a simple scale...")
+    notes = ["C4", "D4", "E4", "F4", "G4", "A4", "B4", "C5"]
+    for note in notes:
+        buzzer.play_note(note, "quarter")
+
+def custom_song_example():
+    """Demonstrates how to create and play a custom list of notes."""
+    print("Playing a custom melody...")
+    # A song is a list of (note, duration) tuples
+    # Durations can be "whole", "half", "quarter", "eighth", "sixteenth"
+    my_song = [
+        ("E4", "eighth"), ("G4", "eighth"), ("E5", "quarter"),
+        ("rest", "eighth"),
+        ("C4", "quarter"), ("G3", "half")
+    ]
+    
+    # Set tempo to 140 Beats Per Minute
+    buzzer.set_tempo(140)
+    buzzer.play_song(my_song)
+
+def siren():
+    """Simple two-tone siren effect using individual notes."""
+    print("Siren started!")
+    for _ in range(3):
+        buzzer.play_note("A4", "quarter")
+        buzzer.play_note("E4", "quarter")
+
+def musical_robot():
+    """
+    Playing music while driving.
+    We use blocking=False so the code continues to the next line 
+    while the music plays in the background.
+    """
+    print("Dancing with music!")
+    
+    # Start 'Move It' in the background
+    buzzer.play_move_it(blocking=False)
+    
+    # While the song is playing, the robot can perform actions
+    for i in range(4):
+        drivetrain.set_effort(0.6, -0.6) # Spin right
+        time.sleep(0.5)
+        drivetrain.set_effort(-0.6, 0.6) # Spin left
+        time.sleep(0.5)
+        
+    drivetrain.stop()
+    print("Dance finished.")
+
+def drive_and_beep():
+    """Driving forward and playing a note at the same time."""
+    # Start driving forward (this is non-blocking)
+    drivetrain.set_effort(0.5, 0.5)
+    
+    # Play a long note (blocking=True) so the robot drives for the duration of the note
+    print("Driving for a whole note...")
+    buzzer.play_note("C5", "whole", blocking=True)
+    
+    drivetrain.stop()
+
+def main():
+    # Run the examples
+    simple_scale()
+    time.sleep(1)
+    
+    siren()
+    time.sleep(1)
+    
+    musical_robot()
+
+main()

public/lib/XRPExamples/buzzer_examples.py

@@ -46,7 +46,11 @@ def are_motors_powered(self) -> bool:
         :return: Returns true if the batteries are connected and powering the motors, false otherwise
         :rytpe: bool
         """
-        return self.on_switch.read_u16() > 20000
+        if "NanoXRP" in sys.implementation._machine:
+            return True
+        
+        threshold_voltage = 4.272
+        return self.get_battery_voltage() > threshold_voltage
 
     def is_button_pressed(self) -> bool:
         """
@@ -125,3 +129,27 @@ def set_rgb_led(self, r:int, g:int, b:int):
             self.rgb_led.write()
         else:
             raise NotImplementedError("Board.set_rgb_led not implemented for the XRP Beta")
+
+    def get_battery_voltage(self, vin_pin="BOARD_VIN_MEASURE") -> float:
+        """
+        Returns the current battery voltage in volts.
+
+        :param vin_pin: The pin the on/off switch is connected to
+        :type vin_pin: int
+        :return: Battery voltage in volts
+        :rtype: float
+        """
+
+        if "NanoXRP" in sys.implementation._machine:
+            # VIN pin on NanoXRP is also used for RM2.
+            self.on_switch = ADC(Pin(vin_pin))
+
+            battery_voltage = self.on_switch.read_u16() * (4.09 / 26000.0)
+
+            Pin(vin_pin, Pin.OUT)
+        else:
+            # RP2040 ADC is 0-4095, MicroPython scales it to 0-65535.
+            # The voltage divider is calibrated to a 14V full-scale reading.
+            battery_voltage = self.on_switch.read_u16() / ((1024 * 64) / 14)
+
+        return battery_voltage