"""
    Robocar 2 Wheels - Variante 2 
"""
import machine, time

print("   ##### RoboCar 2 Wheels #####")

ena_pin = 23; in1_pin = 22; in2_pin = 21;  
enb_pin = 15; in3_pin =  4; in4_pin =  2;

ena =  machine.PWM(machine.Pin(ena_pin));     ena.duty(0) 
in1 =  machine.Pin(in1_pin, machine.Pin.OUT); in1.off()
in2 =  machine.Pin(in2_pin, machine.Pin.OUT); in2.off()
enb =  machine.PWM(machine.Pin(enb_pin));     enb.duty(0)
in3 =  machine.Pin(in3_pin, machine.Pin.OUT); in1.off()
in4 =  machine.Pin(in4_pin, machine.Pin.OUT); in2.off()


def motorA(duty_value):                # rechter Motor
    print("Motor rechts : ", duty_value)
    if (duty_value>=0):
        in1.on(); in2.off(); ena.duty(duty_value)
    else:
        in1.off(); in2.on(); ena.duty(-duty_value)

def motorB(duty_value):                # linker Motor
    print("Motor links : ", duty_value)
    if (duty_value>=0):
        in3.on(); in4.off(); enb.duty(duty_value)
    else:
        in3.off(); in4.on(); enb.duty(-duty_value)        

def fahren(*args):
    l = len(args) 
    print("Fahren: ", len(args), args)
    if l==0:
        pass
    elif l==1:
        print(" : ", args[0])
        motorA(args[0]) 
        motorB(args[0]) 
    elif l==2:
        print(" : ", args[0], args[1])
        motorA(args[0])
        motorB(args[1])
    elif l==3:
        print(" : ", args[0], args[1], args[2])
        motorA(args[0])
        motorB(args[1])
        time.sleep(args[2])        
    else:
        pass
      
dt = 2.5
fahren()
fahren(111)
fahren(222, 333); time.sleep(dt)
fahren(-22, 88); time.sleep(dt)
fahren(222, -88, 2)