dc_motors.py

import RPi.GPIO as GPIO   
import time

# DC motors
in1 = 23 
in2 = 24
in3 = 17
in4 = 27

ena = 25
enb = 16

# Setup
GPIO.setmode(GPIO.BCM)
GPIO.setup(in1,GPIO.OUT)
GPIO.setup(in2,GPIO.OUT)
GPIO.setup(in3,GPIO.OUT)
GPIO.setup(in4,GPIO.OUT)

GPIO.setup(ena,GPIO.OUT)
GPIO.setup(enb,GPIO.OUT)

GPIO.output(in1,GPIO.LOW)
GPIO.output(in2,GPIO.LOW)
GPIO.output(in3,GPIO.LOW)
GPIO.output(in4,GPIO.LOW)

pr = GPIO.PWM(ena,1000)
pl = GPIO.PWM(enb,1000)

pr.start(80)
pl.start(80)

        
# DC Motors functions
def backward():
    print("Backward")
    GPIO.output(in1,GPIO.LOW)
    GPIO.output(in2,GPIO.HIGH)
    GPIO.output(in3,GPIO.HIGH)
    GPIO.output(in4,GPIO.LOW)
    
def turn_left():
    print("Turning left")
    GPIO.output(in1,GPIO.LOW)
    GPIO.output(in2,GPIO.HIGH)
    GPIO.output(in3,GPIO.LOW)
    GPIO.output(in4,GPIO.HIGH)
    
def stop():
    print("Stop")
    GPIO.output(in1,GPIO.LOW)
    GPIO.output(in2,GPIO.LOW)
    GPIO.output(in3,GPIO.LOW)
    GPIO.output(in4,GPIO.LOW)
    
def forward():
    print("Forward")
    GPIO.output(in1,GPIO.HIGH)
    GPIO.output(in2,GPIO.LOW)
    GPIO.output(in3,GPIO.LOW)
    GPIO.output(in4,GPIO.HIGH)
    
def turn_right():
    print("Turning right")
    GPIO.output(in1,GPIO.HIGH)
    GPIO.output(in2,GPIO.LOW)
    GPIO.output(in3,GPIO.HIGH)
    GPIO.output(in4,GPIO.LOW)
    
# DC Motors test code
# forward()
# time.sleep(2)
# turn_left()
# time.sleep(2)
# turn_right()
# time.sleep(2)
# backward()
# time.sleep(2)
# stop()