from machine import Pin,PWM

motor1_pwm = PWM(Pin(21))
motor2_pwm = PWM(Pin(22))

motor1_pwm.freq(15000)
motor2_pwm.freq(15000)

motor1_pwm.duty(0)
motor2_pwm.duty(0)

switch_MoveForward = Pin(25, Pin.IN, Pin.PULL_UP)
switch_TurnLeft = Pin(26, Pin.IN, Pin.PULL_UP)
switch_TurnRight = Pin(27, Pin.IN, Pin.PULL_UP)

def forward(speed):
    duty = int(speed * 10.23)
    motor1_pwm.duty(duty)
    motor2_pwm.duty(duty)

def left(speed):
    duty = int(speed * 10.23)
    motor1_pwm.duty(0)
    motor2_pwm.duty(duty)

def right(speed):
    duty = int(speed * 10.23)
    motor1_pwm.duty(duty)
    motor2_pwm.duty(0)

def stop():
    motor1_pwm.duty(0)
    motor2_pwm.duty(0)

while True:
    if not switch_MoveForward.value():
        forward(50)
    elif not switch_TurnLeft.value():
        left(50)
    elif not switch_TurnRight.value():
        right(50)
    else:
        stop()