Hallo,

Ich habe mir nun folgendes Programm erstellt:
PWM Frequenz 19048 Hz, 50%
Code:
import RPi.GPIO as GPIO

import time
import signal

from pizypwm import *

def endProcess(signalnum = None, handler = None):
    first.stop()
    second.stop()
    third.stop()
    fourth.stop()

    GPIO.cleanup()
    exit(0)

signal.signal(signal.SIGTERM, endProcess)
signal.signal(signal.SIGINT, endProcess)

first = PiZyPwm(19048, 19, GPIO.BOARD)
second = PiZyPwm(19048, 21, GPIO.BOARD)
third = PiZyPwm(19048, 23, GPIO.BOARD)
fourth = PiZyPwm(19048, 24, GPIO.BOARD)

first.start(50)
second.start(50)
third.start(50)
fourth.start(50)

def ControlAPairOfPins(FirstPin,FirstState,SecondPin,SecondState):
  if FirstState == "1":
    GPIO.output(int(FirstPin),True)
  else:
    GPIO.output(int(FirstPin),False)

  if SecondState == "1":
    GPIO.output(int(SecondPin),True)
  else:
    GPIO.output(int(SecondPin),False)
  return

GPIO.setwarnings(False)

GPIO.setmode(GPIO.BOARD)

GPIO.setup(19,GPIO.OUT)
GPIO.setup(21,GPIO.OUT)
GPIO.setup(23,GPIO.OUT)
GPIO.setup(24,GPIO.OUT)

while True:

    ControlAPairOfPins("19","1","21","0")
    ControlAPairOfPins("23","1","24","0")
    print "Drehung nach rechts"
    time.sleep(1)

    ControlAPairOfPins("19","0","21","0")
    ControlAPairOfPins("23","0","24","0")
    print "Stop"
    time.sleep(1)

    ControlAPairOfPins("19","0","21","1")
    ControlAPairOfPins("23","0","24","1")
    print "Drehung nach Links"
    time.sleep(1)

    ControlAPairOfPins("19","0","21","0")
    ControlAPairOfPins("23","0","24","0")
    print "Stop"
    time.sleep(1)

    ControlAPairOfPins("19","1","21","0")
    ControlAPairOfPins("23","0","24","1")
    print "Geradeaus vorwaerts"
    time.sleep(1)  

    ControlAPairOfPins("19","0","21","0")
    ControlAPairOfPins("23","0","24","0")
    print "Stop"
    time.sleep(1)

    ControlAPairOfPins("19","0","21","1")
    ControlAPairOfPins("23","1","24","0")
    print "Geradeaus rueckwaerts"
    time.sleep(1)

    ControlAPairOfPins("19","0","21","0")
    ControlAPairOfPins("23","0","24","0")
    print "Stop"
    time.sleep(1)
Das Programm läuft zwar ab, der Bot zittert aber wie wild.
Ist das Programm so in Ordnung?
Kannst du das bitte überprüfen?