text: 
  #!/usr/bin/env python
  import RPi.GPIO as GPIO #documentation https://sourceforge.net/p/raspberry-gpio-python/wiki/Examples/
  import time
  
  
  class RoverMove:
  	def __init__(self):
  		self.Rpin = 5
  		self.Lpin = 3
  		self.ctrl_list_l = (29,31)
  		self.ctrl_list_r = (33,35)
  		self.forward = (1,0)
  		self.backward = (0,1)
  		self.countL = 0
  		self.countR = 0
  
  		GPIO.setwarnings(False)
  		GPIO.setmode(GPIO.BOARD)#set pin locations
  		GPIO.setup(self.Rpin, GPIO.OUT)#set pins as outputs
  		GPIO.setup(self.Lpin, GPIO.OUT)
  		GPIO.setup(self.ctrl_list_l, GPIO.OUT)
  		GPIO.setup(self.ctrl_list_r, GPIO.OUT)
  
  		self.Rpwm = GPIO.PWM(self.Rpin, 500)#freq
  		self.Lpwm = GPIO.PWM(self.Lpin, 500)
  		self.Rpwm.start(0)#duty cycle
  		self.Lpwm.start(0)
  	def moveL(self, direction, speed):
  		speed = (speed*100)/255 
  		self.Lpwm.ChangeDutyCycle(speed)
  		if direction == 1:
  			GPIO.output(self.ctrl_list_l, self.forward)
  		else:
  			GPIO.output(self.ctrl_list_l, self.backward)
  	def moveR(self, direction, speed):
  		speed = (speed*100) / 255
  		self.Rpwm.ChangeDutyCycle(speed)
  		if direction == 1:
  			GPIO.output(self.ctrl_list_r, self.forward)
  		else:
  			GPIO.output(self.ctrl_list_r, self.backward)
  
  #rovermove = RoverMove()
  #rovermove.moveL(1,255)
  #rovermove.moveR(0,255)
  #time.sleep(2)
  #rovermove.moveL(1,100)
  #rovermove.moveR(1,100)
  #time.sleep(2)
  #rovermove.moveL(1,255)
  #rovermove.moveR(1,255)
  #time.sleep(2)
  #rovermove.moveL(1,0)
  #rovermove.moveR(1,0)
  #time.sleep(2)
  		
  
  #GPIO.cleanup()