Add Buzzer driver and include in defaults

Introduce XRPLib/buzzer.py: a Buzzer class for XRP robots that plays notes and songs (blocking and non-blocking). Features note parsing (naturals, sharps, flats), tempo/duration conversion, frequency computation, PWM control on default pin 13, a Timer-based non-blocking playback path, and several built-in songs. Also update XRPLib/defaults.py to import Buzzer and expose a default buzzer instance (buzzer) when running on NanoXRP via Buzzer.get_default_buzzer().

Author: SaintSampo

XRPLib/buzzer.py

@@ -0,0 +1,373 @@
+# XRP Buzzer Library
+# An easy-to-use library for playing notes and songs on the XRP buzzer
+# Designed to be simple and fun for kids!
+
+import machine
+import time
+import urandom
+from machine import Timer
+
+class Buzzer:
+
+    """
+    A class to control the buzzer on XRP robots.
+
+    Allows for playing individual notes or songs with various durations and tempos.
+    Supports natural notes, sharps, and flats.
+    """
+
+    # Pin configuration for the buzzer
+    BUZZER_PIN = 13
+
+    # 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
+        "C": 0, "D": 2, "E": 4, "F": 5, "G": 7, "A": 9, "B": 11,
+        # Sharps
+        "C#": 1, "D#": 3, "F#": 6, "G#": 8, "A#": 10,
+        # Flats
+        "DB": 1, "EB": 3, "GB": 6, "AB": 8, "BB": 10,
+    }
+    
+    _DEFAULT_BUZZER_INSTANCE = None
+
+    @classmethod
+    def get_default_buzzer(cls):
+        """
+        Get the default XRP buzzer instance. This is a singleton.
+
+        :returns: The default Buzzer instance
+        :rtype: Buzzer
+        """
+        if cls._DEFAULT_BUZZER_INSTANCE is None:
+            cls._DEFAULT_BUZZER_INSTANCE = cls()
+        return cls._DEFAULT_BUZZER_INSTANCE
+
+    def __init__(self, pin: int = None):
+        """
+        Initialize the buzzer.
+
+        :param pin: The pin number for the buzzer
+        :type pin: int
+        """
+        if pin is None:
+            pin = self.BUZZER_PIN
+        self._pin = machine.Pin(pin)
+        self._pwm = machine.PWM(self._pin)
+        self._pwm.duty_u16(0)  # Start silent
+        
+        # State variables for non-blocking playback
+        self._note_end_time = 0
+        self._tempo = 120  # Default BPM
+        
+        # Song playback state
+        self._song = []
+        self._song_index = 0
+        self._song_tempo = 120
+        
+        # Timer for non-blocking updates (use virtual timer -1 to not conflict with user timers)
+        self._timer = Timer(-1)
+        self._timer_in_use = False
+        
+    def _compute_frequency(self, note: str, octave: int) -> int:
+        """
+        Compute the frequency for a note at a given octave.
+        
+        Uses the formula: f = 440 * 2^((n-69)/12)
+        """
+        if note == "R" or note == "REST":
+            return 0
+            
+        note_offset = self.NOTE_OFFSETS.get(note.upper(), 0)
+        midi_note = 60 + (octave - 4) * 12 + note_offset
+        frequency = int(440 * (2 ** ((midi_note - 69) / 12)))
+        
+        return frequency
+    
+    def _duration_to_ms(self, duration, tempo: int = None) -> int:
+        """
+        Convert a duration name to milliseconds.
+        """
+        if tempo is None:
+            tempo = self._tempo
+            
+        if isinstance(duration, str):
+            duration_lower = duration.lower()
+            if duration_lower == "whole":
+                beats = 4
+            elif duration_lower == "half":
+                beats = 2
+            elif duration_lower == "quarter":
+                beats = 1
+            elif duration_lower == "eighth":
+                beats = 0.5
+            elif duration_lower == "sixteenth":
+                beats = 0.25
+            else:
+                beats = 1
+        else:
+            beats = duration
+            
+        ms_per_beat = 60000 / tempo
+        return int(beats * ms_per_beat)
+    
+    def _parse_note(self, note_str: str):
+        """Parse a note string like "C4", "C#4", "Db4" or "rest"."""
+        note_str = note_str.strip().upper()
+        
+        if note_str == "REST" or note_str == "R":
+            return ("R", 0)
+        
+        note_letter = note_str[0]
+        if note_letter in "ABCDEFG":
+            # Check for sharp (#) or flat (b) modifier
+            note_with_modifier = note_letter
+            if len(note_str) > 1:
+                if note_str[1] == "#":
+                    note_with_modifier = note_letter + "#"
+                    octave_pos = 2
+                elif note_str[1] == "B":
+                    note_with_modifier = note_letter + "B"
+                    octave_pos = 2
+                else:
+                    octave_pos = 1
+            
+            try:
+                if octave_pos < len(note_str):
+                    octave = int(note_str[octave_pos])
+                else:
+                    octave = 4  # Default octave
+                return (note_with_modifier, octave)
+            except (ValueError, IndexError):
+                return None
+        
+        return None
+    
+    def _update(self, timer):
+        """
+        Internal callback for non-blocking playback.
+        Called by the timer when running in non-blocking mode.
+        """
+            
+        # Check if current note is done
+        if time.ticks_diff(self._note_end_time, time.ticks_ms()) <= 0:
+            # Note done - stop the tone
+            self._pwm.duty_u16(0)
+            
+            # Small gap between notes
+            time.sleep_ms(20)
+            
+            # Play next note in song
+            self._song_index += 1
+            if self._song_index < len(self._song):
+                note, duration = self._song[self._song_index]
+                self._start_note(note, duration, self._song_tempo)
+            else:
+                # Song finished
+                self._timer.deinit()
+                self._timer_in_use = False
+    
+    def _start_note(self, note: str, duration: str = "quarter", tempo: int = None):
+        """Start playing a note (non-blocking helper)."""
+        parsed = self._parse_note(note)
+        if parsed is None:
+            return
+            
+        note_letter, octave = parsed
+        
+        if note_letter == "R":
+            frequency = 0
+        else:
+            frequency = self._compute_frequency(note_letter, octave)
+        
+        duration_ms = self._duration_to_ms(duration, tempo)
+        
+        if frequency > 0:
+            self._pwm.freq(frequency)
+            self._pwm.duty_u16(32768)  # 50% duty cycle
+        
+        self._note_end_time = time.ticks_add(time.ticks_ms(), duration_ms)
+    
+    def _play_tone_blocking(self, frequency: int, duration_ms: int):
+        """Play a tone synchronously (blocking)."""
+        if frequency <= 0:
+            self._pwm.duty_u16(0)
+        else:
+            self._pwm.freq(frequency)
+            self._pwm.duty_u16(32768)
+        
+        time.sleep_ms(duration_ms)
+        self._pwm.duty_u16(0)
+        time.sleep_ms(20)
+    
+    def play_note(self, note: str, duration: str = "quarter", blocking: bool = True, tempo: int = None):
+        """
+        Play a single note on the buzzer.
+
+        :param note: The note to play (e.g., "C4", "G5", "C#4", "Db4", "rest")
+        :type note: str
+        :param duration: How long to play ("whole", "half", "quarter", "eighth", "sixteenth")
+        :type duration: str
+        :param blocking: If True, wait for note to finish. If False, return immediately.
+        :type blocking: bool
+        :param tempo: BPM (optional, uses default if not specified)
+        :type tempo: int
+        """
+        parsed = self._parse_note(note)
+        if parsed is None:
+            return
+            
+        note_letter, octave = parsed
+        
+        if note_letter == "R":
+            frequency = 0
+        else:
+            frequency = self._compute_frequency(note_letter, octave)
+        
+        duration_ms = self._duration_to_ms(duration, tempo)
+        
+        if blocking:
+            self._play_tone_blocking(frequency, duration_ms)
+        else:
+            # Non-blocking - start the note and set up timer if needed
+            if frequency > 0:
+                self._pwm.freq(frequency)
+                self._pwm.duty_u16(32768)
+            
+            self._note_end_time = time.ticks_add(time.ticks_ms(), duration_ms)
+            
+            # Start timer if not already running
+            if not self._timer_in_use:
+                self._timer.init(freq=100, callback=lambda t: self._update(t))
+                self._timer_in_use = True
+
+    def set_tempo(self, bpm: int):
+        """
+        Set the tempo for songs.
+
+        :param bpm: The tempo in beats per minute
+        :type bpm: int
+        """
+        self._tempo = bpm
+
+    def play_song(self, song: list, tempo: int = None, blocking: bool = True):
+        """
+        Play a song from a list of notes.
+
+        :param song: A list of (note, duration) tuples
+        :type song: list
+        :param tempo: BPM for this song (optional, uses default)
+        :type tempo: int
+        :param blocking: If True, wait for song to finish. If False, play in background.
+        :type blocking: bool
+        """
+        
+        if tempo is None:
+            tempo = self._tempo
+        
+        if not song:
+            return
+            
+        if blocking:
+            # Play all notes synchronously
+            for note, duration in song:
+                parsed = self._parse_note(note)
+                if parsed is None:
+                    continue
+                note_letter, octave = parsed
+                if note_letter == "R":
+                    frequency = 0
+                else:
+                    frequency = self._compute_frequency(note_letter, octave)
+                duration_ms = self._duration_to_ms(duration, tempo)
+                self._play_tone_blocking(frequency, duration_ms)
+        else:
+            # Non-blocking - store song and start playing with timer
+            self._song = song
+            self._song_index = 0
+            self._song_tempo = tempo
+            self._timer_in_use = False
+            
+            # Start playing first note
+            note, duration = song[0]
+            self._start_note(note, duration, tempo)
+            self._song_index = 1
+            
+            # Start the timer for non-blocking playback
+            self._timer.init(freq=100, callback=lambda t: self._update(t))
+            self._timer_in_use = True
+    
+    def play_move_it(self, blocking: bool = True):
+        """
+        Play "I Like to Move It" song.
+
+        :param blocking: If True, wait for song to finish. If False, return immediately.
+        :type blocking: bool
+        """
+        tempo = 120
+        move_it = [
+            ("rest", "eighth"),
+            ("C4", "eighth"), ("C4", "eighth"), ("C4", "eighth"), ("C4", "eighth"),
+            ("C4", "eighth"), ("C4", "eighth"), ("G3", "eighth"),
+            ("rest", "eighth"),
+            ("C4", "eighth"), ("C4", "eighth"), ("C4", "eighth"), ("C4", "eighth"),
+            ("C4", "eighth"), ("C4", "eighth"), ("G3", "eighth"),
+            ("rest", "eighth"),
+            ("C4", "eighth"), ("C4", "eighth"), ("C4", "eighth"), ("C4", "eighth"),
+            ("C4", "eighth"), ("C4", "eighth"), ("G3", "eighth"),
+            ("rest", "eighth"),
+            ("C4", "eighth"), ("C4", "eighth"), ("C4", "eighth"),
+            ("rest", "eighth"), ("rest", "eighth"),
+            ("G4", "eighth"), ("G4", "eighth"),
+        ]
+        self.play_song(move_it, tempo, blocking)
+
+    def play_happy_birthday(self, blocking: bool = True):
+        """
+        Play "Happy Birthday" song.
+
+        :param blocking: If True, wait for song to finish. If False, return immediately.
+        :type blocking: bool
+        """
+        tempo = 140
+        happy_birthday = [
+            ("G4", "quarter"), ("G4", "quarter"), ("A4", "half"), ("G4", "half"),
+            ("C5", "half"), ("B4", "whole"),
+            ("G4", "quarter"), ("G4", "quarter"), ("A4", "half"), ("G4", "half"),
+            ("D5", "half"), ("C5", "whole"),
+            ("G4", "quarter"), ("G4", "quarter"), ("G5", "half"), ("C5", "half"),
+            ("B4", "quarter"), ("A4", "quarter"), ("F5", "half"), ("E5", "half"),
+            ("C5", "half"), ("D5", "half"), ("C5", "whole"),
+        ]
+        self.play_song(happy_birthday, tempo, blocking)
+    
+    def play_twinkle_twinkle(self, blocking: bool = True):
+        """
+        Play "Twinkle Twinkle Little Star" song.
+
+        :param blocking: If True, wait for song to finish. If False, return immediately.
+        :type blocking: bool
+        """
+        tempo = 100
+        twinkle_twinkle = [
+            ("C4", "quarter"), ("C4", "quarter"), ("G4", "quarter"), ("G4", "quarter"),
+            ("A4", "quarter"), ("A4", "quarter"), ("G4", "half"),
+            ("F4", "quarter"), ("F4", "quarter"), ("E4", "quarter"), ("E4", "quarter"),
+            ("D4", "quarter"), ("D4", "quarter"), ("C4", "half"),
+            ("G4", "quarter"), ("G4", "quarter"), ("F4", "quarter"), ("F4", "quarter"),
+            ("E4", "quarter"), ("E4", "quarter"), ("D4", "half"),
+            ("G4", "quarter"), ("G4", "quarter"), ("F4", "quarter"), ("F4", "quarter"),
+            ("E4", "quarter"), ("E4", "quarter"), ("D4", "half"),
+            ("C4", "quarter"), ("C4", "quarter"), ("G4", "quarter"), ("G4", "quarter"),
+            ("A4", "quarter"), ("A4", "quarter"), ("G4", "half"),
+            ("F4", "quarter"), ("F4", "quarter"), ("E4", "quarter"), ("E4", "quarter"),
+            ("D4", "quarter"), ("D4", "quarter"), ("C4", "half"),
+        ]
+        self.play_song(twinkle_twinkle, tempo, blocking)

XRPLib/defaults.py

@@ -8,6 +8,7 @@
 from .reflectance import Reflectance
 from .servo import Servo
 from .webserver import Webserver
+from .buzzer import Buzzer
 from machine import Pin
 from sys import implementation
 
@@ -39,4 +40,7 @@
 if hasattr(Pin.board, "SERVO_3"):
     servo_three = Servo.get_default_servo(index=3)
 if hasattr(Pin.board, "SERVO_4"):
-    servo_four = Servo.get_default_servo(index=4)
+    servo_four = Servo.get_default_servo(index=4)
+
+if "NanoXRP" in implementation._machine:
+    buzzer = Buzzer.get_default_buzzer()