updated all to micropython

.vite/deps/_metadata.json

@@ -0,0 +1,8 @@
+{
+  "hash": "6f652a7d",
+  "configHash": "aba780af",
+  "lockfileHash": "e3b0c442",
+  "browserHash": "e137aec8",
+  "optimized": {},
+  "chunks": {}
+}

.vite/deps/package.json

@@ -0,0 +1,3 @@
+{
+  "type": "module"
+}

files/ssd1306.py

@@ -0,0 +1,164 @@
+# MicroPython SSD1306 OLED driver, I2C and SPI interfaces
+
+from micropython import const
+import framebuf
+
+
+# register definitions
+SET_CONTRAST = const(0x81)
+SET_ENTIRE_ON = const(0xA4)
+SET_NORM_INV = const(0xA6)
+SET_DISP = const(0xAE)
+SET_MEM_ADDR = const(0x20)
+SET_COL_ADDR = const(0x21)
+SET_PAGE_ADDR = const(0x22)
+SET_DISP_START_LINE = const(0x40)
+SET_SEG_REMAP = const(0xA0)
+SET_MUX_RATIO = const(0xA8)
+SET_IREF_SELECT = const(0xAD)
+SET_COM_OUT_DIR = const(0xC0)
+SET_DISP_OFFSET = const(0xD3)
+SET_COM_PIN_CFG = const(0xDA)
+SET_DISP_CLK_DIV = const(0xD5)
+SET_PRECHARGE = const(0xD9)
+SET_VCOM_DESEL = const(0xDB)
+SET_CHARGE_PUMP = const(0x8D)
+
+
+# Subclassing FrameBuffer provides support for graphics primitives
+# http://docs.micropython.org/en/latest/pyboard/library/framebuf.html
+class SSD1306(framebuf.FrameBuffer):
+    def __init__(self, width, height, external_vcc):
+        self.width = width
+        self.height = height
+        self.external_vcc = external_vcc
+        self.pages = self.height // 8
+        self.buffer = bytearray(self.pages * self.width)
+        super().__init__(self.buffer, self.width, self.height, framebuf.MONO_VLSB)
+        self.init_display()
+
+    def init_display(self):
+        for cmd in (
+            SET_DISP,  # display off
+            # address setting
+            SET_MEM_ADDR,
+            0x00,  # horizontal
+            # resolution and layout
+            SET_DISP_START_LINE,  # start at line 0
+            SET_SEG_REMAP | 0x01,  # column addr 127 mapped to SEG0
+            SET_MUX_RATIO,
+            self.height - 1,
+            SET_COM_OUT_DIR | 0x08,  # scan from COM[N] to COM0
+            SET_DISP_OFFSET,
+            0x00,
+            SET_COM_PIN_CFG,
+            0x02 if self.width > 2 * self.height else 0x12,
+            # timing and driving scheme
+            SET_DISP_CLK_DIV,
+            0x80,
+            SET_PRECHARGE,
+            0x22 if self.external_vcc else 0xF1,
+            SET_VCOM_DESEL,
+            0x30,  # 0.83*Vcc
+            # display
+            SET_CONTRAST,
+            0xFF,  # maximum
+            SET_ENTIRE_ON,  # output follows RAM contents
+            SET_NORM_INV,  # not inverted
+            SET_IREF_SELECT,
+            0x30,  # enable internal IREF during display on
+            # charge pump
+            SET_CHARGE_PUMP,
+            0x10 if self.external_vcc else 0x14,
+            SET_DISP | 0x01,  # display on
+        ):  # on
+            self.write_cmd(cmd)
+        self.fill(0)
+        self.show()
+
+    def poweroff(self):
+        self.write_cmd(SET_DISP)
+
+    def poweron(self):
+        self.write_cmd(SET_DISP | 0x01)
+
+    def contrast(self, contrast):
+        self.write_cmd(SET_CONTRAST)
+        self.write_cmd(contrast)
+
+    def invert(self, invert):
+        self.write_cmd(SET_NORM_INV | (invert & 1))
+
+    def rotate(self, rotate):
+        self.write_cmd(SET_COM_OUT_DIR | ((rotate & 1) << 3))
+        self.write_cmd(SET_SEG_REMAP | (rotate & 1))
+
+    def show(self):
+        x0 = 0
+        x1 = self.width - 1
+        if self.width != 128:
+            # narrow displays use centred columns
+            col_offset = (128 - self.width) // 2
+            x0 += col_offset
+            x1 += col_offset
+        self.write_cmd(SET_COL_ADDR)
+        self.write_cmd(x0)
+        self.write_cmd(x1)
+        self.write_cmd(SET_PAGE_ADDR)
+        self.write_cmd(0)
+        self.write_cmd(self.pages - 1)
+        self.write_data(self.buffer)
+
+
+class SSD1306_I2C(SSD1306):
+    def __init__(self, i2c, addr=0x3C, external_vcc=False):
+        self.i2c = i2c
+        self.addr = addr
+        self.temp = bytearray(2)
+        self.write_list = [b"\x40", None]  # Co=0, D/C#=1
+        super().__init__(128, 64, external_vcc)
+
+    def write_cmd(self, cmd):
+        self.temp[0] = 0x80  # Co=1, D/C#=0
+        self.temp[1] = cmd
+        self.i2c.writeto(self.addr, self.temp)
+
+    def write_data(self, buf):
+        self.write_list[1] = buf
+        self.i2c.writevto(self.addr, self.write_list)
+
+
+class SSD1306_SPI(SSD1306):
+    def __init__(self, width, height, spi, dc, res, cs, external_vcc=False):
+        self.rate = 10 * 1024 * 1024
+        dc.init(dc.OUT, value=0)
+        res.init(res.OUT, value=0)
+        cs.init(cs.OUT, value=1)
+        self.spi = spi
+        self.dc = dc
+        self.res = res
+        self.cs = cs
+        import time
+
+        self.res(1)
+        time.sleep_ms(1)
+        self.res(0)
+        time.sleep_ms(10)
+        self.res(1)
+        super().__init__(width, height, external_vcc)
+
+    def write_cmd(self, cmd):
+        self.spi.init(baudrate=self.rate, polarity=0, phase=0)
+        self.cs(1)
+        self.dc(0)
+        self.cs(0)
+        self.spi.write(bytearray([cmd]))
+        self.cs(1)
+
+    def write_data(self, buf):
+        self.spi.init(baudrate=self.rate, polarity=0, phase=0)
+        self.cs(1)
+        self.dc(1)
+        self.cs(0)
+        self.spi.write(buf)
+        self.cs(1)

index.html

@@ -24,7 +24,7 @@
             <button class="tab-btn text-gray-600 hover:text-blue-600" data-target="lesson2">Uploading Code</button>
             <button class="tab-btn text-gray-600 hover:text-blue-600" data-target="lesson3">Motors</button>
             <button class="tab-btn text-gray-600 hover:text-blue-600" data-target="lesson4">Color Sensors</button>
-            <button class="tab-btn text-gray-600 hover:text-blue-600" data-target="lesson5">I2C Multiplexing</button>
+            <button class="tab-btn text-gray-600 hover:text-blue-600 hidden" data-target="lesson5">I2C Multiplexing</button>
             <button class="tab-btn text-gray-600 hover:text-blue-600" data-target="lesson6">OLED Display</button>
             <button class="tab-btn text-gray-600 hover:text-blue-600" data-target="lesson7">RGB LED(Neopixel)</button>
             <button class="tab-btn text-gray-600 hover:text-blue-600" data-target="lesson8">Sonar</button>
@@ -226,6 +226,7 @@ motorIN2.duty_u16(0) </code></pre>
                 <div>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm"><code class="language-python">
 from machine import Pin, PWM
+import time
 
 # Initialize motor PWM pins
 motorIN1 = PWM(Pin(8))
@@ -235,7 +236,7 @@ def motor(power):
     # Make sure power is never greater than 100 or less than -100
     if power > 100:
         power = 100
-    elif power < -100:
+    elif power &lt; -100:
         power = -100
 
     # Convert 0-100 value, to 0 to 65535
@@ -245,7 +246,7 @@ def motor(power):
     if power > 0:
         motorIN1.duty_u16(duty)
         motorIN2.duty_u16(0)
-    elif power < 0:
+    elif power &lt; 0:
         motorIN1.duty_u16(0)
         motorIN2.duty_u16(duty)
     else:
@@ -273,7 +274,7 @@ for i in range(-100, 100):
                         motor code into a new module.</p>
                     </br>
                     <p>We make a second file called <code>motor.py</code> which we'll import and call from our main
-                        <code>code.py</code> file.
+                        <code>main.py</code> file.
                     </p>
                     <p>Now all we need to do from the main code is:</p>
                     </br>
@@ -293,7 +294,7 @@ for i in range(-100, 100):
                 <div>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm">
 <code class="language-python">
-# code.py
+# main.py
 import time
 import motor
 
@@ -312,6 +313,8 @@ for i in range(-100, 100):
     print(i)
     time.sleep(0.1)
 
+
+
 </code></pre>
                     </br>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm">
@@ -334,7 +337,7 @@ class Motor:
         # Constrain power to -100 to 100
         if power > 100:
             power = 100
-        elif power < -100:
+        elif power &lt; -100:
             power = -100
 
         # Scale to duty cycle (0–65535 for RP2040)
@@ -343,7 +346,7 @@ class Motor:
         if power > 0:
             self.in1.duty_u16(duty)
             self.in2.duty_u16(0)
-        elif power < 0:
+        elif power &lt; 0:
             self.in1.duty_u16(0)
             self.in2.duty_u16(duty)
         else:
@@ -410,51 +413,41 @@ class Motor:
                 <div>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm"><code class="language-python">
 # color.py
+import struct
 
-import time
+class Color:
+    def __init__(self, bus, address=0x29):
+        self._bus = bus
+        self._i2c_address = address
+        self._bus.writeto(self._i2c_address, b'\x80\x03')
+        self._bus.writeto(self._i2c_address, b'\x81\x2b')
+        self._bus.writeto(self._i2c_address, b'\x81\xFF')  # Integration time 0xFF=2.4ms 0xF0=38.4ms 0x00=614.4ms
+        self._bus.writeto(self._i2c_address, b'\x8F\x02')   # Gain 0x00=1x, 0x01=4x 0.02=16x, 0x03=60x
 
-TCS_ADDR = 0x29
-COMMAND_BIT = 0x80
+    def scaled(self):
+        crgb = self.raw()
+        if crgb[0] > 0:
+            return tuple(float(x) / crgb[0] for x in crgb[1:])
 
-def i2c_locked(i2c, func, *args, **kwargs):
-    """Wraps I2C operations with lock acquisition and release."""
-    while not i2c.try_lock():
-        pass
-    try:
-        return func(*args, **kwargs)
-    finally:
-        i2c.unlock()
+        return (0,0,0)
 
-def write_register(i2c, addr, reg, value):
-    """Writes a byte to a register."""
-    i2c_locked(i2c, i2c.writeto, addr, bytes([COMMAND_BIT | reg, value]))
+    def rgb(self):
+        return tuple(int(x * 255) for x in self.scaled())
 
-def read_register(i2c, addr, reg, length):
-    """Reads multiple bytes from a register."""
-    result = bytearray(length)
+    def light(self):
+        return self.raw()[0]
     
-    def transfer():
-        i2c.writeto(addr, bytes([COMMAND_BIT | reg]))
-        i2c.readfrom_into(addr, result)
-        return result
+    def brightness(self, level=65.535):
+        return int((self.light() / level))
 
-    return i2c_locked(i2c, transfer)
+    def valid(self):
+        self._bus.writeto(self._i2c_address, b'\x93')
+        return self._bus.readfrom(self._i2c_address, 1)[0] & 1
 
-def init_sensor(i2c):
-    time.sleep(0.01)
-    write_register(i2c, TCS_ADDR, 0x00, 0x01)  # Enable (POWER ON)
-    time.sleep(0.01)
-    write_register(i2c, TCS_ADDR, 0x00, 0x03)  # Enable (COLOR SENSING ON)
-    write_register(i2c, TCS_ADDR, 0x01, 0xFF)  # Integration time 0xFF=2.4ms 0xF0=38.4ms 0x00=614.4ms
-    write_register(i2c, TCS_ADDR, 0x0F, 0x03)  # Gain 0x00=1x, 0x01=4x 0.02=16x, 0x03=60x
+    def raw(self):
+        self._bus.writeto(self._i2c_address, b'\xb4')
+        return struct.unpack("&lt;HHHH", self._bus.readfrom(self._i2c_address, 8))
 
-def read_rgbc(i2c):
-    data = read_register(i2c, TCS_ADDR, 0x14, 8)
-    c = data[1] << 8 | data[0]
-    r = data[3] << 8 | data[2]
-    g = data[5] << 8 | data[4]
-    b = data[7] << 8 | data[6]
-    return r, g, b, c
 
 
 </code></pre>
@@ -462,73 +455,111 @@ def read_rgbc(i2c):
 
                 <!-- Step 3 -->
                 <div class="prose">
-                    <h2>Step 3: code.py</h2>
+                    <h2>Step 3: main.py</h2>
                     <p>Finally, this is how we call our color.py code from our main code, initialise and read the
                         sensor.</p>
                     </br>
-                    <p>We use the <code>busio</code> library to handle our i2c. We initialise the connection by telling
+                    <p>We use <code>I2C and Pin</code> from the <code>machine></code>library to handle our i2c. We initialise the connection by telling
                         it which pins we're using for SCL and SDA, and how fast to communicate.</p>
                     </br>
                     <p>We then pass on that connection to initialize the sensor using
-                        <code>color.init_sensor(i2c)</code>
+                        <code>color.Color(i2c)</code>
                     </p>
                     </br>
-                    <p>The whenever we read <code>color.read_rgbc(i2c)</code> it will give us an array with the
-                        <code>[red, green, blue, color]</code>, with the color being the total light reflected, rather
-                        than just a single color.
+                    <p>The whenever we read <code>color.rgb()</code> it will give us an array with the
+                        <code>[red, green, blue]</code>.
                     </p>
+                    <p>If we want to read the transparent sensor and get the total brightness, we call <code>color.light()</code></p>
                 </div>
                 <div>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm"><code class="language-python">
-# code.py
+# main.py
 
-import busio
 import time
-import board
+from machine import Pin, I2C
 import color
 
-i2c = busio.I2C(scl=board.GP1, sda=board.GP0, frequency=1_000_000)
-color.init_sensor(i2c)
+i2c = I2C(0, scl=Pin(1), sda=Pin(0))
+rc = color.Color(i2c)
 
 while True:
-    value = color.read_rgbc(i2c)
-    print(value)
-    time.sleep(0.1) </code></pre>
+    rgb = rc.rgb()
+    brightness = rc.light()
+    print(rgb, brightness)
+    time.sleep(0.1) 
+</code></pre>
                 </div>
 
 
-                <!-- Step 3 -->
+                <!-- Step 4 -->
                 <div class="prose">
                     <h2>Step 4: How to use it?</h2>
-                    <p>To take these numbers and use them effectively, we need to break out the different colour
-                        channels.</p>
-                    </br>
-                    <p>To the right is an example of how we might take the total colour from the result, and then use it
+                    <p>To take these numbers and use them effectively, it depends on what we want to do.</p>
+                    <p>TO follow a black line on a white background we only need the total brightness so we use the color.light() function.</p>
+                    </br>ke the total colour from the result, and then use it
                         to decide whether to turn or not.</p>
                 </div>
                 <div>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm">
 <code class="language-python">
-value = color.read_rgbc(i2c) # Read the sensor [r,g,b,c]
-# Extract each of the color values from the array
-r = value[0] # red
-g = value[1] # green
-b = value[2] # blue
-c = value[3] # all colors   
+value = rc.light() # Read the sensor
 
-if c > 30: # If the c value is greater than 30
+
+if value > 700: # If the value is greater than 700
     # Turn Right
     left_motor.move(50)
-    left_motor.move(-50)
+    right_motor.move(-50)
 else:
     # Go Straight
     left_motor.move(50)
-    left_motor.move(50)
+    right_motor.move(50)
 </code></pre>
 
                 </div>
 
+                <!-- Step 5 -->
+                <div class="prose">
+                    <h2>Step 5: Adding a second sensor</h2>
+                    <p>One sensor can follow an edge, but for a proper line follower we want a <code>left</code> and a
+                        <code>right</code> sensor.
+                    </p>
+                    </br>
+                    <p>There's a catch: every TCS3472 colour sensor uses the same I2C address (<code>0x29</code>). If you
+                        wire both straight to the same SDA and SCL pins, they'll both answer every message and the
+                        readings will be garbage.</p>
+                    </br>
+                    <p>The fix is to have a second I2C bus, luckily the RP2040 supports this.</p>
+                    </br>
+                    <p>We need to go back to our i2c declaration and add a channel number to it, <code>i2c = I2C(0, scl=Pin(1), sda=Pin(0))</code></p>
+                </br>
+                <p>That extra "0" specifically tells the RP2040 to use the first I2C bus. Then we can add a second bus by running <code>i2c2 = I2C(1, scl=Pin(3), sda=Pin(2))</code></p>
+                <p>Once we've initialized our right colour sensor with <code>rc = color.Color(i2c2)</code> then we're good to go!</code></p>    
             </div>
+                <div>
+                    <pre class="bg-gray-100 p-4 rounded shadow text-sm"><code class="language-python">
+# main.py
+from machine import Pin, I2C
+import time
+import color
+
+i2c = I2C(0, scl=Pin(1), sda=Pin(0))  # Initialize the first I2C bus
+i2c2 = I2C(1, scl=Pin(3), sda=Pin(2))  # Initialize the second I2C bus
+
+lc = color.Color(i2c2)  # Initialize the left colour sensor
+rc = color.Color(i2c)  # Initialize the right colour sensor
+
+while True:
+    left_color = lc.light()
+    right_color = rc.light()
+    print(left_color, right_color)
+    time.sleep(0.1)                    
+
+</code></pre>
+                </div>
+
+            </div>
+
+            
         </section>
 
         <!-- Lesson 5 (hidden initially) -->
@@ -595,9 +626,9 @@ def i2c_locked(i2c, func, *args, **kwargs):
 
 def select_channel(i2c, channel):
     """Selects the TCA9548A multiplexer channel."""
-    if not 0 <= channel <= 7:
+    if not 0 &lt;= channel &lt;= 7:
         raise ValueError("Channel must be 0-7")
-    i2c_locked(i2c, i2c.writeto, TCA_ADDR, bytes([1 << channel]))
+    i2c_locked(i2c, i2c.writeto, TCA_ADDR, bytes([1 &lt;&lt; channel]))
 
 
 </code></pre>
@@ -605,7 +636,7 @@ def select_channel(i2c, channel):
 
                 <!-- Step 3 -->
                 <div class="prose">
-                    <h2>Step 3: code.py</h2>
+                    <h2>Step 3: main.py</h2>
                     <p>So in our main code we just import the muxer module, and make sure we switch to the correct
                         channel before sending any messages.</p>
                     </br>
@@ -614,7 +645,7 @@ def select_channel(i2c, channel):
                 </div>
                 <div>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm"><code class="language-python">
-# code.py
+# main.py
 
 import busio
 import time
@@ -683,51 +714,47 @@ while True:
                 <div class="prose">
                     <h2>Step 2: Coding</h2>
                     <p>The code for the OLED is a little more complicated that what we want to code for ourselves, so
-                        we'll download a library and place it in out CIRCUITPY/lib folder.</p>
+                        we'll upload this file to our device, or copy->paste the contents into a new file called ssd1306.py.</p>
                     </br>
-                    <p><a href="files/adafruit_ssd1306.mpy">adafruit_ssd1306.mpy</a></p>
-                    <p><a href="files/adafruit_framebuf.py">adafruit_framebuf.py</a></p>
+                    <p><a href="files/ssd1306.py">ssd1306.py</a></p>
                     </br>
 
 
-                    <p>We initialize the display with <code>display = adafruit_ssd1306.SSD1306_I2C(128, 32, i2c)</code>.
+                    <p>We initialize the display with <code>disp = ssd1306.SSD1306_I2C(i2c)</code>.
                     </p>
                     </br>
                     <p>We colour the entire screen either black (off) or blue/white (on) with
-                        <code>display.fill(0)</code> for off, or 1 for on.
+                        <code>disp.fill(0)</code> for off, or 1 for on.
                     </p>
                     </br>
-                    <p>We write text with <code>display.text(text, x, y, color)</code>.</p>
+                    <p>We write text with <code>disp.text(text, x, y, color)</code>.</p>
                     </br>
                     <p>Finally, before anythin will actually appear on the screen, we send it using
-                        <code>display.show()</code>.
+                        <code>disp.show()</code>.
                     </p>
                 </div>
                 <div>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm"><code class="language-python">
-import board
+from machine import Pin, I2C
 import time
-import busio
-import adafruit_ssd1306
+import ssd1306
 
-i2c = busio.I2C(scl=board.GP1, sda=board.GP0, frequency=1_000_000)
-display = adafruit_ssd1306.SSD1306_I2C(128, 32, i2c)
+i2c = I2C(0, scl=Pin(1), sda=Pin(0))
+disp = ssd1306.SSD1306_I2C(i2c)
 
-
-display.fill(0) # Fill the screen with BLACK
+disp.fill(0) # Fill the screen with BLACK
 # Print Hello world at the top left in COLOR
-display.text("Hello World", 0, 0, 1) 
-display.show() # Send the update to the screen
+disp.text("Hello World", 0, 0, 1) 
+disp.show() # Send the update to the screen
 time.sleep(2)
 
-
-display.fill(1)# Fille the screen with COLOR
-display.show() # Send the update to the screen
+disp.fill(1)# Fille the screen with COLOR
+disp.show() # Send the update to the screen
 time.sleep(2)
 
 # Print Hello world at x:10, y:20 in BLACK
-display.text("Hello World", 10, 20, 0) 
-display.show() # Send the update to the screen
+disp.text("Hello World", 10, 20, 0) 
+disp.show() # Send the update to the screen
 
 
 </code></pre>
@@ -748,35 +775,29 @@ display.show() # Send the update to the screen
                 </div>
                 <div>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm"><code class="language-python">
-import board
+from machine import Pin, I2C
 import time
-import busio
-import adafruit_ssd1306
+import ssd1306
 import color
-import muxer
 
-i2c = busio.I2C(scl=board.GP1, sda=board.GP0, frequency=1_000_000)
-display = adafruit_ssd1306.SSD1306_I2C(128, 32, i2c)
+i2c = I2C(0, scl=Pin(1), sda=Pin(0))  # Initialize the first I2C bus
+i2c2 = I2C(1, scl=Pin(3), sda=Pin(2))  # Initialize the second I2C bus
+
+disp = ssd1306.SSD1306_I2C(i2c)
 
 # initialize two colour sensors
-muxer.select_channel(i2c, 0)
-color.init_sensor(i2c)
-muxer.select_channel(i2c, 1)
-color.init_sensor(i2c)
-
+lc = color.Color(i2c2)
+rc = color.Color(i2c)  
 
 while True:
-    # Read the colour channel from both colour sensors
-    muxer.select_channel(i2c, 0)
-    value0 = color.read_rgbc(i2c)[3]
-    muxer.select_channel(i2c, 1)
-    value1 = color.read_rgbc(i2c)[3]
+    left_color = lc.light()
+    right_color = rc.light()
     
     # Print the results on the display
-    display.fill(0)
-    display.text("L: " + str(value0), 0, 0, 1)
-    display.text("R: " + str(value1), 0, 10, 1)
-    display.show()
+    disp.fill(0)
+    disp.text("L: " + str(left_color), 0, 0, 1)
+    disp.text("R: " + str(right_color), 0, 10, 1)
+    disp.show()
     time.sleep(0.1)
 </code></pre>
                 </div>
@@ -816,16 +837,13 @@ while True:
                     <p>Once again we'll be using a library to handle all the bits and bytes under the hood, so we only
                         have to worry about setting colours.</p>
                     </br>
-                    <p><a href="files/neopixel.py">neopixel.py</a></p>
-                    </br>
                     <p>We only need to initialize the pixel with
-                        <code>pixel = neopixel.NeoPixel(board.GP29, 1, brightness=0.2)</code>.
+                        <code>pixel = neopixel.NeoPixel(Pin(16), 1)</code>.
                     </p>
-                    <p>The "1" is the number of pixels we have, and we CAN set the brightness up to 1.0 but it's quite
-                        bright.</p>
+                    <p>The Pin is the RP2040 pin that the LED is connected to.The "1" is the number of pixels we have.</p>
                     </br>
                     <p>Then we just need to tell the pixel what colour to be, we talk to
-                        <code>pixel[0] = (red,green,blue)</code> because
+                        <code>pixel[0] = (green,red,blue)</code> because
                         it's the only one we have. The numbers for each colour go from minimum 0, to maximum 255.
                     </p>
 
@@ -833,58 +851,31 @@ while True:
                 </div>
                 <div>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm"><code class="language-python">
-import board
+from machine import Pin
 import time
 import neopixel
 
-pixel = neopixel.NeoPixel(board.GP29, 1, brightness=0.2)
+pixel = neopixel.NeoPixel(Pin(16), 1)
+pixel[0] = (20, 0, 0)
+pixel.write()
 
 while True:
-    pixel[0] = (255, 0, 0)  # Red
+    pixel[0] = (255, 0, 0)  # Green
+    pixel.write()
     time.sleep(1)
-    pixel[0] = (0, 255, 0)  # Green
+    pixel[0] = (0, 255, 0)  # Red
+    pixel.write()
     time.sleep(1)
     pixel[0] = (0, 0, 255)  # Blue
+    pixel.write()
     time.sleep(1)
 
 
 </code></pre>
                 </div>
 
-                <!-- Step 3 -->
-                <div class="prose">
-                    <h2>Step 3: Make some pretty effects</h2>
-                    <p>This example has three loops, each one fades from one primary colour to the next.</p>
-                    </br>
-                    <p>We increase one LEDs brightness by assigning it <code>i</code>, which counts from 0-255</p>
-                    </br>
-                    <p>We decrease another LEDs brightness by making it <code>255-i</code> so it begins at max, and
-                        counts
-                        down to zero as i becomes higher.</p>
                 
                 </div>
-                <div>
-                    <pre class="bg-gray-100 p-4 rounded shadow text-sm"><code class="language-python">
-import board
-import time
-import neopixel
-
-pixel = neopixel.NeoPixel(board.GP29, 1, brightness=0.2)
-
-while True:
-    # Fade Red->Green
-    for i in range(256):
-        pixel[0] = (255-i, i, 0)
-    
-    # Fade Green->Blue
-    for i in range(256):
-        pixel[0] = (0, 255-i, i)
-        
-    # Fade Blue->Red
-    for i in range(256):
-        pixel[0] = (i, 0, 255-i)
-</code></pre>
-                </div>
 
         </section>
 
@@ -959,9 +950,12 @@ class Sonar:
         # Calculate duration
         duration = time.ticks_diff(end, start)
 
-        # Convert to distance (speed of sound ~343 m/s)
-        distance = (duration / 2) * 0.0343
-        return int(distance)
+        # Convert to distance in millimeters
+        # Speed of sound ~343 m/s = 0.343 mm/µs
+        distance_mm = (duration / 2) * 0.343
+        return int(distance_mm)
+
+                        
 
 </code></pre>
                 </div>
@@ -983,8 +977,8 @@ sonar = sonar.Sonar(trigger_pin=26, echo_pin=28)
 
 while True:
     dist = sonar.distance()
-    print("Distance:", dist, "cm")
-    time.sleep(1)
+    print("Distance:", dist, "mm")
+    time.sleep(0.1)
 </code></pre>
                 </div>
 
@@ -1053,7 +1047,7 @@ class ThumbInput:
         return None
 
     def _map_thumbstick(self, x, min_val, mid_val, max_val):
-        if x < mid_val:
+        if x &lt; mid_val:
             return (x - mid_val) / (mid_val - min_val) * 100
         else:
             return (x - mid_val) / (max_val - mid_val) * 100
@@ -1190,7 +1184,8 @@ print(filtered)
 
                 <div class="prose">
                     <h2>Step 4: Take the median</h2>
-                    <p>That's better, but those large peaks are still throwing our average off quite a bit. We can improve this by taking the MEDIAN of the buffer rather than the average.
+                    <p>That's better, but those large peaks are still throwing our average off quite a bit. We can
+                        improve this by taking the MEDIAN of the buffer rather than the average.
                     </p>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm"><code class="language-python">
 def median_filter(values):
@@ -1213,7 +1208,8 @@ print(filtered)
 
                 <div class="prose">
                     <h2>Step 5: Fine tuning</h2>
-                    <p>Before moving on, play with the buffer size to see how it effects the results AND the responsiveness to changes.</p>
+                    <p>Before moving on, play with the buffer size to see how it effects the results AND the
+                        responsiveness to changes.</p>
                     <p>Try and find a good balance with the time.sleep() value as well.</p>
 
                 </div>
@@ -1284,7 +1280,7 @@ class ThumbInput:
         return None
 
     def _map_thumbstick(self, x, min_val, mid_val, max_val):
-        if x < mid_val:
+        if x &lt; mid_val:
             return (x - mid_val) / (mid_val - min_val) * 100
         else:
             return (x - mid_val) / (max_val - mid_val) * 100
@@ -1442,7 +1438,7 @@ class PIDController:
 </code></pre>
                     </br>
                     <pre class="bg-gray-100 p-4 rounded shadow text-sm"><code class="language-python">
-# code.py
+# main.py
 
 import pid