Thr RC CAR in ESP32 written in micropython

rc_car.py

from machine import UART, Pin, lightsleep
from micropython import const

#Instruction class
class _Instruction:
    left =  'L'
    right = 'R'
    backward = 'B'
    forward = 'F'
    stop = 'S'
    back_left = 'H'
    back_right = 'J'
    forward_left = 'G'
    forward_right = 'I'
INSTRUCTION = _Instruction()

#Values of PWM signals
class _PWM:
    HIGH = 1
    LOW=0
PWM = _PWM()

class _motor_pins:
    #motor pins no
    motorleftpinno2 = const(11) #left motor pin 2 (counter clockwise)
    motorleftpinno1 = const(10) #left motor pin 1 (clockwise)

    motorrightpinno2 = const(13) #right motor pin 2 (counter clockwise)
    motorrightpinno1 = const(12) #right motor pin 1 (clockwise)
    
    def __init__(self, *args, **kwargs):
        #motor pins variable
        self.motorleftpin2 = Pin(self.motorleftpinno2, Pin.OUT) #left motor pin 2 (counter clockwise)
        self.motorleftpin1 = Pin(self.motorleftpinno1, Pin.OUT) #left motor pin 1 (clockwise)

        self.motorrightpin2 = Pin(self.motorrightpinno2, Pin.OUT) #right motor pin 2 (counterclockwise)
        self.motorrightpin1 = Pin(self.motorrightpinno1, Pin.OUT) #right motor pin 1 (clockwise)
    
        #setting the pins to low
        self.stop()

    def set_moter_clockwise(self, left = PWM.HIGH, right = PWM.HIGH):
        if left == right:
            self.set_moter_counter_clockwise(not left, not right)
        self.motorleftpin1.value(left)
        self.motorrightpin1.value(right)

    def set_moter_counter_clockwise(self, left = PWM.HIGH, right = PWM.HIGH):
        if left == right:
            self.set_moter_clockwise(not left, not right)
        self.motorleftpin2.value(left)
        self.motorrightpin2.value(right)
    
    def stop(self):
        self.motorleftpin2.value(PWM.LOW)
        self.motorleftpin1.value(PWM.LOW)
        self.motorrightpin2.value(PWM.LOW)
        self.motorrightpin1.value(PWM.LOW)
MOTOR_PINS = _motor_pins()

uart = UART(2, const(9600))

state = 0 #bluetooth state
while True:
    if not bool(uart.any()):
        continue

    state = uart.read().decode('ascii').upper()
    if state == INSTRUCTION.left:
        uart.write('Moving Left')
        MOTOR_PINS.set_moter_clockwise(left=PWM.LOW)
        MOTOR_PINS.set_moter_counter_clockwise(right=PWM.LOW)
        
    elif state == INSTRUCTION.right:
        uart.write('Moving Right')
        MOTOR_PINS.set_moter_clockwise(right=PWM.LOW)
        MOTOR_PINS.set_moter_counter_clockwise(left=PWM.LOW)
    
    elif state == INSTRUCTION.backward:
        uart.write('Moving Backwards')
        MOTOR_PINS.set_moter_counter_clockwise()
    
    elif state == INSTRUCTION.forward:
        uart.write('Moving Backwards')
        MOTOR_PINS.set_moter_clockwise()
    
    elif state == INSTRUCTION.back_left:
        state = INSTRUCTION.right
        continue
    
    elif state == INSTRUCTION.back_right:
        state = INSTRUCTION.left
        continue
    
    elif state == INSTRUCTION.forward_left:
        state = INSTRUCTION.left
        continue
    
    elif state == INSTRUCTION.forward_right:
        state = INSTRUCTION.right
        continue
    
    elif state == INSTRUCTION.stop:
        uart.write('Stopping')
        MOTOR_PINS.stop()
    
    state=0
    lightsleep(100)