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()