modularizing motor class

Motor.py

@@ -0,0 +1,81 @@
+class Motor:
+
+    def __init__(self, pinForward, pinBackward, pinControlStraight,pinLeft, pinRight, pinControlSteering):
+        """ Initialize the motor with its control pins and start pulse-width
+             modulation """
+
+        self.pinForward = pinForward
+        self.pinBackward = pinBackward
+        self.pinControlStraight = pinControlStraight
+        self.pinLeft = pinLeft
+        self.pinRight = pinRight
+        self.pinControlSteering = pinControlSteering
+        GPIO.setup(self.pinForward, GPIO.OUT)
+        GPIO.setup(self.pinBackward, GPIO.OUT)
+        GPIO.setup(self.pinControlStraight, GPIO.OUT)
+
+        GPIO.setup(self.pinLeft, GPIO.OUT)
+        GPIO.setup(self.pinRight, GPIO.OUT)
+        GPIO.setup(self.pinControlSteering, GPIO.OUT)
+
+        self.pwm_forward = GPIO.PWM(self.pinForward, 100)
+        self.pwm_backward = GPIO.PWM(self.pinBackward, 100)
+        self.pwm_forward.start(0)
+        self.pwm_backward.start(0)
+
+        self.pwm_left = GPIO.PWM(self.pinLeft, 100)
+        self.pwm_right = GPIO.PWM(self.pinRight, 100)
+        self.pwm_left.start(0)
+        self.pwm_right.start(0)
+
+        GPIO.output(self.pinControlStraight,GPIO.HIGH)
+        GPIO.output(self.pinControlSteering,GPIO.HIGH)
+
+    def forward(self, speed):
+        """ pinForward is the forward Pin, so we change its duty
+             cycle according to speed. """
+        self.pwm_backward.ChangeDutyCycle(0)
+        self.pwm_forward.ChangeDutyCycle(speed)
+
+    def forward_left(self, speed):
+        """ pinForward is the forward Pin, so we change its duty
+             cycle according to speed. """
+        self.pwm_backward.ChangeDutyCycle(0)
+        self.pwm_forward.ChangeDutyCycle(speed)
+        self.pwm_right.ChangeDutyCycle(0)
+        self.pwm_left.ChangeDutyCycle(100)
+
+    def forward_right(self, speed):
+        """ pinForward is the forward Pin, so we change its duty
+             cycle according to speed. """
+        self.pwm_backward.ChangeDutyCycle(0)
+        self.pwm_forward.ChangeDutyCycle(speed)
+        self.pwm_left.ChangeDutyCycle(0)
+        self.pwm_right.ChangeDutyCycle(100)
+
+    def backward(self, speed):
+        """ pinBackward is the forward Pin, so we change its duty
+             cycle according to speed. """
+
+        self.pwm_forward.ChangeDutyCycle(0)
+        self.pwm_backward.ChangeDutyCycle(speed)
+
+    def left(self, speed):
+        """ pinForward is the forward Pin, so we change its duty
+             cycle according to speed. """
+        self.pwm_right.ChangeDutyCycle(0)
+        self.pwm_left.ChangeDutyCycle(speed)
+
+    def right(self, speed):
+        """ pinForward is the forward Pin, so we change its duty
+             cycle according to speed. """
+        self.pwm_left.ChangeDutyCycle(0)
+        self.pwm_right.ChangeDutyCycle(speed)
+
+    def stop(self):
+        """ Set the duty cycle of both control pins to zero to stop the motor. """
+
+        self.pwm_forward.ChangeDutyCycle(0)
+        self.pwm_backward.ChangeDutyCycle(0)
+        self.pwm_left.ChangeDutyCycle(0)
+        self.pwm_right.ChangeDutyCycle(0)