diff --git a/XRPLib/board.py b/XRPLib/board.py
index 8039f77..eb17e4f 100644
--- a/XRPLib/board.py
+++ b/XRPLib/board.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
diff --git a/XRPLib/resetbot.py b/XRPLib/resetbot.py
index 9a3bc37..0c6e3fb 100644
--- a/XRPLib/resetbot.py
+++ b/XRPLib/resetbot.py
@@ -70,14 +70,11 @@ def reset_hard():
 if "XRPLib.board" in sys.modules:
     reset_led()
 
-if "XRPLib.buzzer" in sys.modules:
+if hasattr(Pin.board, "BOARD_BUZZER"):
     reset_buzzer()
 
 if "XRPLib.servo" in sys.modules:
     reset_servos()
 
 if "XRPLib.webserver" in sys.modules:
-    reset_webserver()
-
-if "NanoXRP" in sys.implementation._machine:
-    Pin("BOARD_VIN_MEASURE", Pin.OUT)
+    reset_webserver()
\ No newline at end of file
diff --git a/package.json b/package.json
index fb9c107..3fb3f3f 100644
--- a/package.json
+++ b/package.json
@@ -2,6 +2,7 @@
     "urls": [
       ["XRPLib/__init__.py", "github:Open-STEM/XRP_Micropython/XRPLib/__init__.py"],
       ["XRPLib/board.py", "github:Open-STEM/XRP_Micropython/XRPLib/board.py"],
+      ["XRPLib/buzzer.py", "github:Open-STEM/XRP_Micropython/XRPLib/buzzer.py"],
       ["XRPLib/controller.py", "github:Open-STEM/XRP_Micropython/XRPLib/controller.py"],
       ["XRPLib/defaults.py", "github:Open-STEM/XRP_Micropython/XRPLib/defaults.py"],
       ["XRPLib/differential_drive.py", "github:Open-STEM/XRP_Micropython/XRPLib/differential_drive.py"],
@@ -20,6 +21,7 @@
       ["XRPLib/timeout.py", "github:Open-STEM/XRP_Micropython/XRPLib/timeout.py"],
       ["XRPLib/webserver.py", "github:Open-STEM/XRP_Micropython/XRPLib/webserver.py"],
       ["XRPExamples/__init__.py", "github:Open-STEM/XRP_Micropython/XRPExamples/__init__.py"],
+      ["XRPExamples/buzzer_examples.py", "github:Open-STEM/XRP_Micropython/XRPExamples/buzzer_examples.py"],
       ["XRPExamples/drive_examples.py", "github:Open-STEM/XRP_Micropython/XRPExamples/drive_examples.py"],
       ["XRPExamples/gamepad_example.blocks", "github:Open-STEM/XRP_Micropython/XRPExamples/gamepad_example.blocks"],
       ["XRPExamples/installation_verification.py", "github:Open-STEM/XRP_Micropython/XRPExamples/installation_verification.py"],
@@ -30,5 +32,5 @@
     "deps": [
       ["github:pimoroni/phew", "latest"]
     ],
-    "version": "2.1.3"
+    "version": "2.1.4"
   }