def __init__(self, wheelsLeftPin = 23,\ wheelsRightPin = 24,\ CNY70EncodeMidPinLeft = 17,\ CNY70EncodeMidPinMid = 27,\ CNY70EncodeMidPinRight = 22,\ CNY70EncodeLeftPinLeft = 5,\ CNY70EncodeLeftPinMid = 6,\ CNY70EncodeLeftPinRight = 13,\ CNY70EncodeRightPinLeft = 16,\ CNY70EncodeRightPinMid = 20,\ CNY70EncodeRightPinRight = 21): self.wheels = Module.Wheels(wheelsLeftPin, wheelsRightPin) self.encodeMid = Module.CNY70Encode(CNY70EncodeMidPinLeft, CNY70EncodeMidPinMid, CNY70EncodeMidPinRight) self.encodeLeft = Module.CNY70Encode(CNY70EncodeLeftPinLeft, CNY70EncodeLeftPinMid, CNY70EncodeLeftPinRight) self.encodeRight = Module.CNY70Encode(CNY70EncodeRightPinLeft, CNY70EncodeRightPinMid, CNY70EncodeRightPinRight)