This code controls a robot's movement by taking user input and controlling the GPIO pins of a Raspberry Pi to drive the motors in different directions.

drive.py

import RPi.GPIO as GPIO
from time import sleep
import curses

# Define GPIO pin numbers
RIGHT_FORWARD_PIN = 17
RIGHT_BACKWARD_PIN = 18
RIGHT_ENABLE_PIN = 4

LEFT_FORWARD_PIN = 22
LEFT_BACKWARD_PIN = 23
LEFT_ENABLE_PIN = 27

BACK_RIGHT_FORWARD_PIN = 6
BACK_RIGHT_BACKWARD_PIN = 12
BACK_RIGHT_ENABLE_PIN = 16

BACK_LEFT_FORWARD_PIN = 24
BACK_LEFT_BACKWARD_PIN = 25
BACK_LEFT_ENABLE_PIN = 26

# Set up GPIO
GPIO.setwarnings(False)
GPIO.setmode(GPIO.BCM)

# Set up motor pins as outputs
GPIO.setup([RIGHT_FORWARD_PIN, RIGHT_BACKWARD_PIN, RIGHT_ENABLE_PIN], GPIO.OUT)
GPIO.setup([LEFT_FORWARD_PIN, LEFT_BACKWARD_PIN, LEFT_ENABLE_PIN], GPIO.OUT)
GPIO.setup([BACK_RIGHT_FORWARD_PIN, BACK_RIGHT_BACKWARD_PIN, BACK_RIGHT_ENABLE_PIN], GPIO.OUT)
GPIO.setup([BACK_LEFT_FORWARD_PIN, BACK_LEFT_BACKWARD_PIN, BACK_LEFT_ENABLE_PIN], GPIO.OUT)

# Initialize PWM objects
right_motor_pwm = GPIO.PWM(RIGHT_ENABLE_PIN, 100)
left_motor_pwm = GPIO.PWM(LEFT_ENABLE_PIN, 100)
back_right_motor_pwm = GPIO.PWM(BACK_RIGHT_ENABLE_PIN, 100)
back_left_motor_pwm = GPIO.PWM(BACK_LEFT_ENABLE_PIN, 100)

# Start PWM output
right_motor_pwm.start(75)
left_motor_pwm.start(75)
back_right_motor_pwm.start(75)
back_left_motor_pwm.start(75)

# Function to move forward
def move_forward():
    GPIO.output(RIGHT_FORWARD_PIN, GPIO.HIGH)
    GPIO.output(RIGHT_BACKWARD_PIN, GPIO.LOW)
    GPIO.output(LEFT_FORWARD_PIN, GPIO.HIGH)
    GPIO.output(LEFT_BACKWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_RIGHT_FORWARD_PIN, GPIO.HIGH)
    GPIO.output(BACK_RIGHT_BACKWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_LEFT_FORWARD_PIN, GPIO.HIGH)
    GPIO.output(BACK_LEFT_BACKWARD_PIN, GPIO.LOW)
    print("Moving forward")

# Function to move backward
def move_backward():
    GPIO.output(RIGHT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(RIGHT_BACKWARD_PIN, GPIO.HIGH)
    GPIO.output(LEFT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(LEFT_BACKWARD_PIN, GPIO.HIGH)
    GPIO.output(BACK_RIGHT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_RIGHT_BACKWARD_PIN, GPIO.HIGH)
    GPIO.output(BACK_LEFT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_LEFT_BACKWARD_PIN, GPIO.HIGH)
    print("Moving backward")

# Function to turn right
def turn_right():
    GPIO.output(RIGHT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(RIGHT_BACKWARD_PIN, GPIO.HIGH)
    GPIO.output(LEFT_FORWARD_PIN, GPIO.HIGH)
    GPIO.output(LEFT_BACKWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_RIGHT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_RIGHT_BACKWARD_PIN, GPIO.HIGH)
    GPIO.output(BACK_LEFT_FORWARD_PIN, GPIO.HIGH)
    GPIO.output(BACK_LEFT_BACKWARD_PIN, GPIO.LOW)
    print("Turning right")

# Function to turn left
def turn_left():
    GPIO.output(RIGHT_FORWARD_PIN, GPIO.HIGH)
    GPIO.output(RIGHT_BACKWARD_PIN, GPIO.LOW)
    GPIO.output(LEFT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(LEFT_BACKWARD_PIN, GPIO.HIGH)
    GPIO.output(BACK_RIGHT_FORWARD_PIN, GPIO.HIGH)
    GPIO.output(BACK_RIGHT_BACKWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_LEFT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_LEFT_BACKWARD_PIN, GPIO.HIGH)
    print("Turning left")

# Function to stop the robot
def stop_robot():
    GPIO.output(RIGHT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(RIGHT_BACKWARD_PIN, GPIO.LOW)
    GPIO.output(LEFT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(LEFT_BACKWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_RIGHT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_RIGHT_BACKWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_LEFT_FORWARD_PIN, GPIO.LOW)
    GPIO.output(BACK_LEFT_BACKWARD_PIN, GPIO.LOW)
    print("Stopping")

actions = {
    curses.KEY_UP:    move_forward,
    curses.KEY_DOWN:  move_backward,
    curses.KEY_LEFT:  turn_left,
    curses.KEY_RIGHT: turn_right,
}

def main(window):
    next_key = None
    while True:
        curses.halfdelay(1)
        if next_key is None:
            key = window.getch()
        else:
            key = next_key
            next_key = None
        if key != -1:
            # KEY PRESSED
            curses.halfdelay(3)
            action = actions.get(key)
            if action is not None:
                action()
            next_key = key
            while next_key == key:
                next_key = window.getch()
            # KEY RELEASED
            stop_robot()

curses.wrapper(main)