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# Author: peppe8o
# Blog: https://peppe8o.com
# Date: Dec 18th, 2022
# Version: 1.0

from machine import Pin, PWM
from time import sleep

pwmPIN=13

cwLPin=14 
acwLPin=15

cwRPin=17 
acwRPin=16

def motorMove(speed,direction,speedGP,cwGP,acwGP):
  if speed > 100: speed=100
  if speed < 0: speed=0
  Speed = PWM(Pin(speedGP))
  Speed.freq(50)
  cw = Pin(cwGP, Pin.OUT)
  acw = Pin(acwGP, Pin.OUT)
  Speed.duty_u16(int(speed/100*65536))
  if direction < 0:
      cw.value(0)
      acw.value(1)
  if direction == 0:
      cw.value(0)
      acw.value(0)
  if direction > 0:
      cw.value(1)
      acw.value(0)

def move_f(speed):
    motorMove(speed,1,pwmPIN,cwRPin,acwRPin)
    motorMove(speed,1,pwmPIN,cwLPin,acwLPin)

def move_b(speed):
    motorMove(speed,-1,pwmPIN,cwRPin,acwRPin)
    motorMove(speed,-1,pwmPIN,cwLPin,acwLPin)

def move_r(speed):
    motorMove(speed,-1,pwmPIN,cwRPin,acwRPin)
    motorMove(speed,1,pwmPIN,cwLPin,acwLPin)
    
def move_l(speed):
    motorMove(speed,1,pwmPIN,cwRPin,acwRPin)
    motorMove(speed,-1,pwmPIN,cwLPin,acwLPin)
    
def move_stop():
    motorMove(0,0,pwmPIN,cwRPin,acwRPin)
    motorMove(0,0,pwmPIN,cwLPin,acwLPin)

# main program
move_f(100)
sleep(2)
move_b(100)
sleep(2)
move_l(100)
sleep(2)
move_r(100)
sleep(2)
move_stop()