class PWMMotor:

    def __init__(self, dir_pin1, dir_pin2, enable_pin, flip_dir=False):
        self._dir_pin1 = dir_pin1
        self._dir_pin2 = dir_pin2
        self._enable = enable_pin
        self._flip_dir = flip_dir
        self._direction = True
        self._speed = 0.0

    @property
    def forward(self):
        return self._direction

    @forward.setter
    def forward(self, direction):
        check = not direction if self._flip_dir else direction
        if check:
            self._dir_pin1.on()
            self._dir_pin2.off()
            self._direction = True
        else:
            self._dir_pin1.off()
            self._dir_pin2.on()
            self._direction = False

    @property
    def speed(self):
        return self._speed

    @speed.setter
    def speed(self, percentage):
        f_percentage = float(percentage)
        if f_percentage < 0 or f_percentage > 100:
            raise ValueError('Speed must be a float or int from 0 to 100')
        self._enable.duty(int(1023 / 100 * f_percentage))
        self._speed = f_percentage


class ServoMotor(PWMMotor):

    def __init__(self, dir_pin1, dir_pin2, enable_pin, flip_dir=False, sensor_pin_a=None, sensor_pin_b=None):
        super().__init__(dir_pin1, dir_pin2, enable_pin, flip_dir=False)
        sensor_pin_a = sensor_pin_a
        sensor_pin_b = sensor_pin_b


class MotorController:

    def __init__(self, dir_pin_a1=None, dir_pin_a2=None, enable_pin_a=None, flip_dir_a=False, dir_pin_b1=None,
                 dir_pin_b2=None,
                 enable_pin_b=None, flip_dir_b=False):
        self.motor_a = PWMMotor(dir_pin_a1, dir_pin_a2, enable_pin_a, flip_dir_a)
        self.motor_b = PWMMotor(dir_pin_b1, dir_pin_b2, enable_pin_b, flip_dir_b)