from machine import Pin, PWM, ADC
from time import sleep

pwm = PWM(Pin(23),freq=1000)
dir_1 = Pin(22,Pin.OUT)
dir_2 = Pin(21,Pin.OUT)
adc = ADC(Pin(35))
adc.width (ADC.WIDTH_9BIT)
adc.atten (ADC.ATTN_11DB)

def motor(x,y,z):
    dir_1.value(x)
    dir_2.value(y)
    pwm.duty(z)

while(1):
    v=adc.read()
    if v<=102:
        motor(0, 1, 900)

    elif v<=204:
        motor(0, 1, 500)

    elif v<=306:
        motor(0, 0, 0)

    elif v<=408:
        motor(1, 0, 500)

    else:
        motor(1, 0, 900)