ESP8266超声波避障小车1.0

# main.py -- put your code here!
import machine
from machine import Pin
import time

left_pin1 = Pin(14,Pin.OUT)
left_pin2 = Pin(12,Pin.OUT)
right_pin1 = Pin(13,Pin.OUT)
right_pin2 = Pin(15,Pin.OUT)

Trig = Pin(5, Pin.OUT)
Echo = Pin(4, Pin.IN)

def Go():
    left_pin1.value(1)
    left_pin2.value(0)
    right_pin1.value(1)
    right_pin2.value(0)

def Back():
    left_pin1.value(0)
    left_pin2.value(1)
    right_pin1.value(0)
    right_pin2.value(1)

def Left():
    left_pin1.value(1)
    left_pin2.value(0)
    right_pin1.value(0)
    right_pin2.value(1)

def Right():
    left_pin2.value(1)
    left_pin1.value(0)
    right_pin1.value(1)
    right_pin2.value(0)

while True:
    Trig.value(1)
    time.sleep_us(20)
    Trig.value(0)
    while (Echo.value() == 0):
        Trig.value(1)
        time.sleep_us(20)
        Trig.value(0)
    if (Echo.value() == 1):
        ts = time.ticks_us()
        while (Echo.value() == 1):