motozero.py

from gpiozero import Motor, OutputDevice
from time import sleep

motor1 = Motor(24, 27)
motor1_enable = OutputDevice(5, initial_value=1)
motor2 = Motor(6, 22)
motor2_enable = OutputDevice(17, initial_value=1)
motor3 = Motor(23, 16)
motor3_enable = OutputDevice(12, initial_value=1)
motor4 = Motor(13, 18)
motor4_enable = OutputDevice(25, initial_value=1)

motors = (motor1, motor2, motor3, motor4)

for motor in motors:
    motor.forward()
    sleep(1)
    motor.stop()

Controls:

motor.forward()  # full speed forwards
motor.forward(0.5)  # half speed forwards

motor.backward()  # full speed backwards
motor.backward(0.5)  # half speed backwards

motor.stop()  # stop the motor

motor.value = 0.5  # half speed forwards
motor.value = -0.5  # half speed backwards
motor.value = 0  # stop

motor.reverse()  # reverse direction at same speed, e.g...

motor.forward(0.5)  # going forward at half speed
motor.reverse()  # now going backwards at half speed

I tried to to have control using kbhit.py but it seems pizero is not enough powerfull