From 383b4a6a434a3431deae6cf2363d4dd4e7cb6532 Mon Sep 17 00:00:00 2001
From: Ryan Zotti <ryanzotti@Ryans-MacBook-Pro.local>
Date: Sat, 9 Jul 2016 15:01:39 -0400
Subject: [PATCH] modularizing motor class

---
 Motor.py | 81 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 81 insertions(+)
 create mode 100644 Motor.py

diff --git a/Motor.py b/Motor.py
new file mode 100644
index 00000000..cedce9e2
--- /dev/null
+++ b/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)
\ No newline at end of file