import RPi.GPIO as GPIO
from time import sleep
from time import time
import os
import sys, tty, termios


GPIO.setmode(GPIO.BCM)

GPIO.setup(9,GPIO.OUT)
GPIO.setup(10,GPIO.OUT)
GPIO.setup(11,GPIO.OUT)

Motor1 = GPIO.PWM(11, 50)
Motor1.start(0)

Echo = 17
Steer = 4

def forward(speed):
  GPIO.output(9,GPIO.HIGH)
  GPIO.output(10,GPIO.LOW)
  Motor1.ChangeDutyCycle(speed)


def backward(speed):
  GPIO.output(9,GPIO.LOW)
  GPIO.output(10,GPIO.HIGH)
  Motor1.ChangeDutyCycle(speed)


def left(speed):

  string = "echo 0=110 > /dev/servoblaster"
  os.system(string)
  sleep(1)
  GPIO.output(9,GPIO.LOW)
  GPIO.output(10,GPIO.HIGH)
  Motor1.ChangeDutyCycle(speed)


def right(speed):

  string = "echo 0=190 > /dev/servoblaster"
  os.system(string)
  sleep(1)
  GPIO.output(9,GPIO.LOW)
  GPIO.output(10,GPIO.HIGH)
  Motor1.ChangeDutyCycle(speed)


def stop():
  Motor1.ChangeDutyCycle(0)



# Infinite loop that will not end until the user presses the
# exit key
while True:
    # Keyboard character retrieval method is called and saved
    # into variable
    char = getch()

    # The car will drive forward when the "w" key is pressed
    if(char == "w"):
     print "forward"
     forward

    # The car will reverse when the "s" key is pressed
    if(char == "s"):
      print "backward"
       backward

    # The "a" key will toggle the steering left
    if(char == "a"):
      print "left"
      left

    # The "d" key will toggle the steering right
    if(char == "d"):
      print "right"
      right

     # The "x" key will break the loop and exit the program
    if(char == "x"):
        print("Program Ended")
        break


   # At the end of each loop the acceleration motor will stop
    # and wait for its next command
    motor1.ChangeDutyCycle(0)

    # The keyboard character variable will be set to blank, ready
    # to save the next key that is pressed
    char = ""

# Program will cease all GPIO activity before terminating
GPIO.cleanup()