import  RPi.GPIO as GPIO
import time



PWMA = 21
AIN1   =  6
AIN2   =  13

PWMB = 20
BIN1   = 19
BIN2  =  26

#该驱动模块调速区间为[0-100]

#前进
def t_up(speed,t_time):
        L_Motor.ChangeDutyCycle(speed)
        GPIO.output(AIN2,False)#AIN2
        GPIO.output(AIN1,True) #AIN1
        print("AAAAAAAAAAAAAAAA")

        R_Motor.ChangeDutyCycle(speed)
        GPIO.output(BIN2,False)#BIN2
        GPIO.output(BIN1,True) #BIN1
        time.sleep(10)
 #停止  
def t_stop(t_time):
        L_Motor.ChangeDutyCycle(0)
        GPIO.output(AIN2,False)#AIN2
        GPIO.output(AIN1,False) #AIN1

        R_Motor.ChangeDutyCycle(0)
        GPIO.output(BIN2,False)#BIN2
        GPIO.output(BIN1,False) #BIN1
        time.sleep(5)
   #后退
def t_down(speed,t_time):
        L_Motor.ChangeDutyCycle(speed)
        GPIO.output(AIN2,True)#AIN2
        GPIO.output(AIN1,False) #AIN1
        print("bbbbbbbbbbbb")

        R_Motor.ChangeDutyCycle(speed)
        GPIO.output(BIN2,True)#BIN2
        GPIO.output(BIN1,False) #BIN1
        time.sleep(t_time)
#左转
def t_left(speed,t_time):
        L_Motor.ChangeDutyCycle(speed)
        GPIO.output(AIN2,True)#AIN2
        GPIO.output(AIN1,False) #AIN1

        R_Motor.ChangeDutyCycle(speed)
        GPIO.output(BIN2,False)#BIN2
        GPIO.output(BIN1,True) #BIN1
        time.sleep(5)
#右转
def t_right(speed,t_time):
        L_Motor.ChangeDutyCycle(speed)
        GPIO.output(AIN2,False)#AIN2
        GPIO.output(AIN1,True) #AIN1

        R_Motor.ChangeDutyCycle(speed)
        GPIO.output(BIN2,True)#BIN2
        GPIO.output(BIN1,False) #BIN1
        time.sleep(5)    
        
GPIO.setwarnings(True) 
GPIO.setmode(GPIO.BCM)
GPIO.setup(AIN2,GPIO.OUT)
GPIO.setup(AIN1,GPIO.OUT)
GPIO.setup(PWMA,GPIO.OUT)

GPIO.setup(BIN1,GPIO.OUT)
GPIO.setup(BIN2,GPIO.OUT)
GPIO.setup(PWMB,GPIO.OUT)

L_Motor= GPIO.PWM(PWMA,100)
L_Motor.start(0)

R_Motor = GPIO.PWM(PWMB,100)
R_Motor.start(0)

try:
    while True:
        t_up(50,3)
        t_down(50,3)
        t_left(50,3)
        t_right(50,3)
        t_stop(3)
except KeyboardInterrupt:
    GPIO.cleanup()
