moved code for L293D motor driver to seperate file

micropython_firmware/l293motor.py

@@ -0,0 +1,29 @@
+import machine
+
+class Motor:
+    def __init__(self, enable, dir1, dir2):
+        self.enable_pin = machine.Pin(enable, machine.Pin.OUT)
+        self.enable_pwm = machine.PWM(self.enable_pin)
+        self.enable_pwm.freq(250)
+
+        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):
+        self.direction = not self.direction
+        self.dir1_pin.value(self.direction)
+        self.dir2_pin.value(not self.direction)
+
+    def speed(self, value):
+        if value > 0: # forward
+            if not self.direction: # switch direction if necessary
+                self.reverse()
+        else: # backward
+            if self.direction: # switch direction if necessary
+                self.reverse()
+        # apply value as pwm signal
+        self.enable_pwm.duty(int(abs(value)*10.23))
+

micropython_firmware/main.py

@@ -2,43 +2,18 @@ import machine
 import sys
 from machine import I2C, Pin
 
-import d1motor
+i2c = False
+if i2c:
+    import d1motor
+else:
+    import l293motor
 
 import time
 import usocket
 import esp
 
-class Motor:
-    def __init__(self, enable, dir1, dir2):
-        self.enable_pin = machine.Pin(enable, machine.Pin.OUT)
-        self.enable_pwm = machine.PWM(self.enable_pin)
-        self.enable_pwm.freq(250)
-
-        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):
-        self.direction = not self.direction
-        self.dir1_pin.value(self.direction)
-        self.dir2_pin.value(not self.direction)
-
-    def speed(self, value):
-        if value > 0: # forward
-            if not self.direction: # switch direction if necessary
-                self.reverse()
-        else: # backward
-            if self.direction: # switch direction if necessary
-                self.reverse()
-        # apply value as pwm signal
-        self.enable_pwm.duty(int(abs(value)*10.23))
-
-
 class Robot:
     def __init__(self):
-        i2c = False
         if i2c:
             print("setting up I2C ...")
             #d1 = Pin(5)
@@ -59,8 +34,9 @@ class Robot:
                 print("error: no i2c interfaces found!")
                 sys.exit(1) 
         else:
-            self.m1 = Motor(14, 13, 12)
+            print("setting up L293D motor")
-            self.m2 = Motor(5, 0, 4)
+            self.m1 = l293motor.Motor(14, 13, 12)
+            self.m2 = l293motor.Motor(5, 0, 4)
 
         ip = my_ip[0]
         # setup socket for remote control