motor_test.py

import Adafruit_BBIO.GPIO as GPIO
import Adafruit_BBIO.PWM as PWM
import time

class Motor:
	'''
	A Motor. YEE.
	'''
	def __init__(self, p1, p2, pwm):
		'''
		set up the motor pin assignments
		'''
		self.p1 = p1
		self.p2 = p2
		self.pwm = pwm
		GPIO.setup(self.p1, GPIO.OUT)
		GPIO.setup(self.p2, GPIO.OUT)
		PWM.start(self.pwm,0,50,0)

	def set(self, speed, forward):
		'''
		set motor speed, direction
		speed is a number from 1 to 50
		forward is True if you want the motor to spin forward.
		'''
		if forward == True:
			GPIO.output(self.p1, GPIO.HIGH)
			GPIO.output(self.p2, GPIO.LOW)
		else:		
			GPIO.output(self.p1, GPIO.LOW)
			GPIO.output(self.p2, GPIO.HIGH)			

		PWM.set_duty_cycle(self.pwm, speed) 

PWM_front_drive = "P9_14"
PWM_rear_drive = "P9_21"
PWM_steer = "P9_16"
STANDBY = "P9_23"

fd1, fd2 = "P9_11", "P9_27"
rd1, rd2 = "P9_15", "P9_24"
steer_1, steer_2 = "P9_13", "P9_12"

# intialize stuff
GPIO.setup(STANDBY, GPIO.OUT)
GPIO.output(STANDBY, GPIO.HIGH)

GPIO.setup(steer_1, GPIO.OUT)
GPIO.setup(steer_2, GPIO.OUT)
PWM.start(PWM_steer,50)

GPIO.output(steer_1, GPIO.LOW)
GPIO.output(steer_2, GPIO.HIGH)
PWM.set_duty_cycle(PWM_steer, 50) 

time.sleep(5)

PWM.cleanup()
GPIO.cleanup()