feat: cleanup and rework audio system

control/dc_motor_controller.py

@@ -1,10 +1,12 @@
 import atexit
+import logging
 
 try:
     from RPi import GPIO
 except ImportError:
     from .mockGpio import GPIO
 
+LOG = logging.getLogger(__name__)
 
 PWM_FREQUENCY = 10_000  # 10 KHz
 MOTORS = []
@@ -17,7 +19,7 @@ def setup_gpio():
 
 
 def cleanup_gpio():
-    print("cleaning up")
+    LOG.info("cleaning up")
     for motor in MOTORS:
         # noinspection PyProtectedMember
         motor._stop()
@@ -49,7 +51,7 @@ class DcMotor:
         self._set_reverse(val)
         absval = abs(val)
         if absval > 1:
-            print(f"clipping {val} to 1")
+            logging.warning(f"clipping {val} to 1")
             absval = 1
 
         self.pwm_enable.ChangeDutyCycle(absval * 100)