def __init__(self, pin_pwm_l, pin_in1_l, pin_in2_l, pin_encoder_l, pin_pwm_r, pin_in1_r, pin_in2_r, pin_encoder_r,
freq=1000, uart_id=0, motorCruisingSpeed=30, motorCruisingDistance=120):
# setup hbridge motor controller pin assignments
self.motorLeft = HBridge(
pin_pwm_l, pin_in1_l, pin_in2_l, freq)
self.motorRight = HBridge(
pin_pwm_r, pin_in1_r, pin_in2_r, freq)
self.motorEncoderL = Pin(pin_encoder_l, Pin.IN)
self.motorEncoderR = Pin(pin_encoder_r, Pin.IN)
# PI pico - not tested with esp32 (UART implementations seem to vary)
self.uart = UART(uart_id, 9600) # uart0 uses pins 1 (tx) and 2 (rx)
self.motorCruisingSpeed = motorCruisingSpeed
self.motorCruisingDistance = motorCruisingDistance
gc.collect()
gc.disable()
