Raspberry Pi Motor Driver HAT

import RPi.GPIO as GPIO
import time

# Motor Driver HAT pins
LEFT_PWM_PIN = 12
LEFT_DIR_PIN = 16
RIGHT_PWM_PIN = 13
RIGHT_DIR_PIN = 18

# Set up GPIO
GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

GPIO.setup(LEFT_PWM_PIN, GPIO.OUT)
GPIO.setup(LEFT_DIR_PIN, GPIO.OUT)
GPIO.setup(RIGHT_PWM_PIN, GPIO.OUT)
GPIO.setup(RIGHT_DIR_PIN, GPIO.OUT)

# Set up PWM
left_pwm = GPIO.PWM(LEFT_PWM_PIN, 50)
right_pwm = GPIO.PWM(RIGHT_PWM_PIN, 50)

# Start PWM
left_pwm.start(0)
right_pwm.start(0)

def set_motor_speeds(left_speed, right_speed):
    if left_speed >= 0:
        GPIO.output(LEFT_DIR_PIN, GPIO.LOW)
    else:
        GPIO.output(LEFT_DIR_PIN, GPIO.HIGH)

    if right_speed >= 0:
        GPIO.output(RIGHT_DIR_PIN, GPIO.LOW)
    else:
        GPIO.output(RIGHT_DIR_PIN, GPIO.HIGH)

    left_pwm.ChangeDutyCycle(min(abs(left_speed), 100))
    right_pwm.ChangeDutyCycle(min(abs(right_speed), 100))

try:
    while True:
        # Move forward
        set_motor_speeds(50, 50)
        time.sleep(2)

        # Stop
        set_motor_speeds(0, 0)
        time.sleep(2)

        # Move backward
        set_motor_speeds(-50, -50)
        time.sleep(2)

        # Stop
        set_motor_speeds(0, 0)
        time.sleep(2)

except KeyboardInterrupt:
    pass

# Clean up
left_pwm.stop()
right_pwm.stop()
GPIO.cleanup()