jetson_machine.py

import Jetson.GPIO as GPIO
import time


class Motor:
    def __init__(self, ena, in1, in2):
        self.ena = ena
        self.in1 = in1
        self.in2 = in2

    def __enter__(self):
        GPIO.setup(self.ena, GPIO.OUT, initial=GPIO.LOW)
        GPIO.setup(self.in1, GPIO.OUT, initial=GPIO.LOW)
        GPIO.setup(self.in2, GPIO.OUT, initial=GPIO.LOW)

        GPIO.output(self.ena, GPIO.HIGH)
        GPIO.output(self.in1, GPIO.LOW)
        GPIO.output(self.in2, GPIO.LOW)

        return self

    def __exit__(self, exc_type, exc_value, exc_traceback):
        GPIO.output(self.ena, GPIO.LOW)
        GPIO.output(self.in1, GPIO.LOW)
        GPIO.output(self.in2, GPIO.LOW)

    def stop(self):
        GPIO.output(self.in1, GPIO.LOW)
        GPIO.output(self.in2, GPIO.LOW)
    
    def backward(self):
        GPIO.output(self.in1, GPIO.LOW)
        GPIO.output(self.in2, GPIO.HIGH)

    def forward(self):
        GPIO.output(self.in1, GPIO.HIGH)
        GPIO.output(self.in2, GPIO.LOW)




def main():
    GPIO.setwarnings(False)
    # set pin numbers to the board's
    GPIO.setmode(GPIO.BOARD)

    with Motor(ena=37, in1=35, in2=33) as lmoto, Motor(ena=36, in1=38, in2=40) as rmoto:
        rmoto.forward()
        lmoto.forward()
        time.sleep(2.5)

        rmoto.backward()
        lmoto.backward()
        time.sleep(2.5)


    GPIO.cleanup()

if __name__ == "__main__":
    main()