Refactor IMU/Drive/Buzzer

Clean up example and library code: remove unused Buzzer import/instantiation from examples, restore trailing newline. In XRPLib.buzzer remove duration constants. In differential_drive always initialize heading_pid when an IMU exists and fix comment/indentation around secondary controller setup. In IMU cache the NanoXRP check in self._is_nanoxrp and use it where needed. In reflectance replace an f-string with a plain string in a RuntimeError for minor linting consistency.

Non-blocking buzzer inter-note gap handling

Implement proper inter-note silence and robust non-blocking playback for the Buzzer.

- Add _in_gap and _gap_end_time state to track short gaps between notes instead of sleeping inside the timer callback; refactor _update to advance songs after the gap expires and stop the timer when the song finishes.
- Fix note parsing by initializing octave_pos and handling modifier positions to avoid undefined behavior.
- When starting single non-blocking notes, clear any active song state and reset gap flags; when starting a non-blocking song, stop any existing timer/playback before beginning.
- Ensure _in_gap is cleared on reset.
- Update resetbot to call Buzzer.get_default_buzzer().reset_buzzer() (use instance) instead of calling a class method.

These changes remove blocking sleeps from timer callbacks, prevent race conditions between single-note and song playback, and make non-blocking behavior deterministic.

Clean up imports and fix flip_dir logic

Move the re import to the module top in XRPLib/encoder.py and remove the redundant local import. In XRPLib/motor.py, replace the expression flip_dir ^ True with the clearer and correct not flip_dir for NanoXRP, ensuring proper boolean inversion and improving readability.

Author: SaintSampo

XRPExamples/buzzer_examples.py

@@ -1,4 +1,3 @@
-from lib.XRPLib.buzzer import Buzzer
 from XRPLib.defaults import *
 import time
 
@@ -8,9 +7,6 @@
     play music while it is moving.
 """
 
-# Get the singleton instance of the buzzer
-buzzer = Buzzer.get_default_buzzer()
-
 def simple_scale():
     """Plays a basic C major scale."""
     print("Playing a simple scale...")
@@ -82,4 +78,4 @@ def main():
 
     musical_robot()
 
-main()
+main()

XRPLib/buzzer.py

@@ -15,13 +15,6 @@ class Buzzer:
     Supports natural notes, sharps, and flats.
     """
 
-    # Duration constants (based on a default 120 BPM tempo)
-    WHOLE = 4
-    HALF = 2
-    QUARTER = 1
-    EIGHTH = 0.5
-    SIXTEENTH = 0.25
-
     # Note names to semitone offset (semitones from C4 = 0)
     NOTE_OFFSETS = {
         # Natural notes
@@ -389,4 +382,4 @@ def play_twinkle_twinkle(self, blocking: bool = True):
             ("F4", "quarter"), ("F4", "quarter"), ("E4", "quarter"), ("E4", "quarter"),
             ("D4", "quarter"), ("D4", "quarter"), ("C4", "half"),
         ]
-        self.play_song(twinkle_twinkle, tempo, blocking)
+        self.play_song(twinkle_twinkle, tempo, blocking)

XRPLib/differential_drive.py

@@ -57,10 +57,7 @@ def __init__(self, left_motor: EncodedMotor, right_motor: EncodedMotor, imu: IMU
         self.turning = False
 
         if self.imu:
-            # if the IMU is initialized, then create a PID controller that can be used
-            # to maintain a constant heading when driving
-            if not "NanoXRP" in implementation._machine:
-                self.heading_pid = PID( kp = 0.075, kd=0.001, )
+            self.heading_pid = PID( kp = 0.075, kd=0.001, )
 
     def set_effort(self, left_effort: float, right_effort: float) -> None:
         """
@@ -313,7 +310,7 @@ def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = No
                     tolerance = 1,
                     tolerance_count = 3
                 )
-                    # Secondary controller to keep encoder values in sync
+            # Secondary controller to keep encoder values in sync
             if secondary_controller is None:
                 secondary_controller = PID(
                     kp = 0.32,
@@ -335,7 +332,7 @@ def turn(self, turn_degrees: float, max_effort: float = 0.5, timeout: float = No
                     tolerance = 1,
                     tolerance_count = 3
                 )
-                    # Secondary controller to keep encoder values in sync
+            # Secondary controller to keep encoder values in sync
             if secondary_controller is None:
                 secondary_controller = PID(
                     kp = 0.25,

XRPLib/encoder.py

@@ -4,6 +4,7 @@
 import rp2
 import time
 from sys import implementation
+import re
 
 class Encoder:
     if "NanoXRP" in implementation._machine:
@@ -53,7 +54,6 @@ def _get_pin_id(self, pin):
         # String representation is usually "Pin(GPIO16, mode=IN)" or "Pin(16)"
         # We look for the numeric part associated with the GPIO.
         s = str(pin)
-        import re
         match = re.search(r'(\d+)', s)
         if match:
             return int(match.group(1))

XRPLib/imu.py

@@ -30,6 +30,8 @@ def get_default_imu(cls):
         return cls._DEFAULT_IMU_INSTANCE
 
     def __init__(self, scl_pin: int|str = "I2C_SCL_1", sda_pin: int|str = "I2C_SDA_1", addr=LSM_ADDR_PRIMARY):
+        self._is_nanoxrp = "NanoXRP" in implementation._machine
+
         # I2C values
         self.i2c = I2C(id=1, scl=Pin(scl_pin), sda=Pin(sda_pin), freq=400000)
         self.addr = addr
@@ -551,7 +553,7 @@ def _update_imu_readings(self):
         self.get_gyro_rates()
 
         # Flip and swap for NanoXRP
-        if "NanoXRP" in implementation._machine:
+        if self._is_nanoxrp:
             delta_pitch = self.irq_v[1][1] / 1000 / self.timer_frequency
             delta_roll = self.irq_v[1][0] / 1000 / self.timer_frequency
             delta_yaw = -1 * self.irq_v[1][2] / 1000 / self.timer_frequency

XRPLib/reflectance.py

@@ -58,7 +58,7 @@ def get_middle(self) -> float:
         : rtype: float
         """
         if self._middleReflectance is None:
-            raise RuntimeError(f"Middle reflectance sensor is not available on this board configuration.")
+            raise RuntimeError("Middle reflectance sensor is not available on this board configuration.")
 
         return self._get_value(self._middleReflectance)
 

XRPLib/resetbot.py

@@ -33,7 +33,7 @@ def reset_buzzer():
     # Turn off the buzzer
     try:
         # Turn off the Buzzer if the board has one
-        Buzzer.reset_buzzer()
+        Buzzer.get_default_buzzer().reset_buzzer()
     except:
         pass