RoboRally/micropython_firmware/main.py

import machine
import time

class Motor:
    def __init__(self, enable, dir1, dir2):
        self.enable_pin = machine.Pin(enable, machine.Pin.OUT)
        self.dir1_pin = machine.Pin(dir1, machine.Pin.OUT)
        self.dir2_pin = machine.Pin(dir2, machine.Pin.OUT)

        self.direction = 1 # default direction: dir1_pin = HIGH, dir2_pin = LOW
        self.reverse()

    def reverse(self):
        print("reversing direction")
        self.direction = not self.direction
        self.dir1_pin.value(self.direction)
        self.dir2_pin.value(not self.direction)

    def spin(self,seconds):
        self.enable_pin.value(1)
        time.sleep(seconds)
        self.enable_pin.value(0)

print("setting up pins")
m1 = Motor(4, 16, 5)
m2 = Motor(14, 0, 2)
print("setup complete")

print("Motor test")
print("Motor 1:")
m1.spin(0.1)
print("Motor 2:")
m2.spin(0.1)

print("done!")