A simple raspberry pi class for controlling the PWM GPIO pins of the Raspberry Pi 3

gistfile1.txt

import pigpio
import RPi.GPIO as GPIO

class PWM:
    def __init__(self):
        self.pi = pigpio.pi()
        self.freq = 100
        self.steering = 0
        self.acceleration = 0
        self.gpioPinAcceleration = 18
        self.gpioPinSteering = 19
        # init hardware. Car should be faced forwards and not moving
        self.pi.hardware_PWM(self.gpioPinAcceleration,self.freq,int(14.5*10000))
        self.pi.hardware_PWM(self.gpioPinSteering,self.freq,int(15*10000))

    # changeDutyCycle()
    # Summary: Changes PWM duty cycles for steering and acceleration 
    # Parameter: data => tuple of doubles containing the duty cycles (%) for steering and acceleration
    def changeDutyCycle(self,acc,steer):
        if (self.steering != steer):
            self.steering = steer
            #print(steer)
            self.pi.hardware_PWM(self.gpioPinSteering,self.freq,int(steer*10000))
        if (self.acceleration != acc):
            self.acceleration = acc
            #print(acc)
            self.pi.hardware_PWM(self.gpioPinAcceleration,self.freq,int(acc*10000))     

    # cleans GPIO
    def __del__(self):
        print('Cleaning up GPIO...')
        GPIO.cleanup()