File: robot_buttons_1.py

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gpiozero 2.0.1-0.1
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from gpiozero import Robot, Motor, Button
from signal import pause

robot = Robot(left=Motor(4, 14), right=Motor(17, 18))

left = Button(26)
right = Button(16)
fw = Button(21)
bw = Button(20)

fw.when_pressed = robot.forward
fw.when_released = robot.stop

left.when_pressed = robot.left
left.when_released = robot.stop

right.when_pressed = robot.right
right.when_released = robot.stop

bw.when_pressed = robot.backward
bw.when_released = robot.stop

pause()