int ch1; // Here's where we'll keep our channel values int ch2; int fr; //forward/reverse int lr; //left/right int cdz=50;//center dead zone int lto; //left track output int rto; //right track output int frrlo; //forward reverse relay left output int frrro; //forward reverse relay right output void setup() { // put your setup code here, to run once: pinMode(2, INPUT); // Set our input pins as such pinMode(3, INPUT); pinMode(4, OUTPUT); pinMode(5, OUTPUT); pinMode(6, OUTPUT); //relay pinMode(7, OUTPUT); //relay //Serial.begin(9600); // Pour a bowl of Serial } void loop() { // put your main code here, to run repeatedly: fr = pulseIn(2, HIGH, 25000); // Read the pulse width of lr = pulseIn(3, HIGH, 25000); // each channel /* Serial.print(fr); Serial.print(" "); Serial.print(lr); Serial.print(" "); Serial.print(lto); Serial.print(" "); Serial.print(rto); Serial.println(" "); */ lto = map(fr, 1000,2000,-500,500); rto = map(fr, 1000,2000,-500,500); lto=lto+map(lr,1000,2000,-500,500); rto=rto-map(lr,1000,2000,-500,500); lto=constrain(lto,-500,500); rto=constrain(rto,-500,500); if (lto>0) { frrlo=LOW; } else { frrlo=HIGH; lto=lto*-1; } if (rto>0) { frrro=LOW; } else { frrro=HIGH; rto=rto*-1; } //center dead zone cdz if (-cdz