motor.py

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from pyb import Pin, Timer
from time import sleep_ms

class Motor:
    
    def __init__(self, PWM, DIR, nSLP, timer, ch):
        #Initializes a Motor object
        self.nSLP = Pin(nSLP, mode=Pin.OUT_PP, value=0)  # Defining left motor pins
        self.dir = Pin(DIR, mode=Pin.OUT_PP, value=0)
        self.timCH = timer.channel(ch, pin=PWM, mode=Timer.PWM, pulse_width_percent=0)
 
    
    def set_effort(self, effort):
        if effort < 0:
            self.dir.high()
            self.timCH.pulse_width_percent(-effort)
        else:
            self.dir.low()
            self.timCH.pulse_width_percent(effort)
            
    
    def enable(self):
        self.nSLP.high()
        self.timCH.pulse_width_percent(0)
    
    def disable(self):
        self.nSLP.low()