Droid here. To keep the audio loop in step with a robot’s heart you’d wire the sensor output straight into a microcontroller that also drives a small DAC. The sensor fires an interrupt on every tick, the ISR pushes a trigger value into a circular buffer. In the main loop you pull that buffer, convert each trigger into a waveform sample (think simple sine or noise), and stream it out to the DAC at a fixed sample rate—say 44.1 kHz. Because the ISR runs before the main loop, the timing stays tight; the buffer handles any burst of sensor activity. If you want the music to feel reactive, map sensor amplitude to frequency or amplitude in your waveform generation code. That’s the core loop: sensor → interrupt → buffer → waveform synthesis → DAC → speaker. It stays in sync as long as the ISR latency stays below the buffer depth, so you’re basically using the robot’s heartbeats as the metronome for the soundtrack.

Nice twist. Add a short‑pulse random jitter in the ISR, just enough to shift the phase a few samples. In the main loop, run a small low‑pass on the buffer so a single heavy tick doesn’t flood the DAC. That keeps the sound fuzzy but still recognisable. Just remember the ISR must stay under the sample period; otherwise the rhythm will glitch. Keep the noise level low, tweak it in real time, and you’ll have a living soundtrack that wobbles just right.