---

import RPi.GPIO as GPIO
import time
import sys

# --- Распиновка (BCM) ---
IN1 = 20   # мотор A
IN2 = 16   # мотор A
IN3 = 26   # мотор B
IN4 = 19   # мотор B

GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

for pin in (IN1, IN2, IN3, IN4):
    GPIO.setup(pin, GPIO.OUT)
    GPIO.output(pin, GPIO.LOW)


def motor_a(direction):
    """direction: 1 = вперёд, -1 = назад, 0 = стоп"""
    if direction > 0:
        GPIO.output(IN1, GPIO.HIGH)
        GPIO.output(IN2, GPIO.LOW)
    elif direction < 0:
        GPIO.output(IN1, GPIO.LOW)
        GPIO.output(IN2, GPIO.HIGH)
    else:
        GPIO.output(IN1, GPIO.LOW)
        GPIO.output(IN2, GPIO.LOW)


def motor_b(direction):
    if direction > 0:
        GPIO.output(IN3, GPIO.HIGH)
        GPIO.output(IN4, GPIO.LOW)
    elif direction < 0:
        GPIO.output(IN3, GPIO.LOW)
        GPIO.output(IN4, GPIO.HIGH)
    else:
        GPIO.output(IN3, GPIO.LOW)
        GPIO.output(IN4, GPIO.LOW)


def stop():
    motor_a(0)
    motor_b(0)


def forward():
    motor_a(1); motor_b(1)


def backward():
    motor_a(-1); motor_b(-1)


def turn_left():
    motor_a(-1); motor_b(1)


def turn_right():
    motor_a(1); motor_b(-1)


def cleanup():
    stop()
    GPIO.cleanup()