#!/usr/bin/env python

# Import Modules
from Raspi_MotorHAT import Raspi_MotorHAT, Raspi_DCMotor, Raspi_StepperMotor
import time
import atexit
import RPi.GPIO as GPIO

# Use GPIO Number instead of Pin Numbers
GPIO.setmode(GPIO.BCM)

# Set GPIO as input
GPIO.setup(23, GPIO.IN, pull_up_down = GPIO.PUD_UP)

# Create a default object
mh = Raspi_MotorHAT(0x6F)

# Shutdown Motors
def turnOffMotors():
        mh.getMotor(1).run(Raspi_MotorHAT.RELEASE)
        mh.getMotor(2).run(Raspi_MotorHAT.RELEASE)
        mh.getMotor(3).run(Raspi_MotorHAT.RELEASE)
        mh.getMotor(4).run(Raspi_MotorHAT.RELEASE)
atexit.register(turnOffMotors)

# Create Motor object [steps/rev, motor portnumber]
myMotor = mh.getMotor(2)

# Set Speed [RPM] (0 to 255)
myMotor.setSpeed(180)

# Program GPIO

while GPIO.input(23) == 1:

     if GPIO.input(23) == 1:
          myMotor.run(Raspi_MotorHAT.FORWARD)

     else:
          myMotor.run(Raspi_MotorHAT.RELEASE)