Code to accept servo signals and controllthe hubmotor

hubCTL.ino

void setup() {
Serial.begin(115200);
#define pin 23
#define pmax 500
#define pmin -500
#define zero 1492

#define INCOM 6
#define EN    8
#define CWCCW 7
#define AIN   
pinMode(pin, INPUT); // sets the digital pin as output
pinMode(13,OUTPUT);

pinMode(INCOM,OUTPUT);
pinMode(EN,OUTPUT);
pinMode(CWCCW,OUTPUT);

digitalWrite(INCOM,1);
digitalWrite(EN,1);
digitalWrite(CWCCW,1);

delay(1000);
    Serial.println("alive");
}


int ms=0,timestamp=0;
int state = 0;
int timeout = 0;

#define dbupper 100
#define dblower -100

void loop() {
  timeout++;
  if (digitalRead(pin) && state==0){
    state = 1;
    timeout=0;
    timestamp =   micros();
  } else if(digitalRead(pin)==0 && state==1) {
    state = 0;
    timeout=0;
    ms = (micros()-timestamp)-1500;
        Serial.println(ms);

  }
    if (ms< dbupper & ms>dblower) digitalWrite(EN,1);
    else digitalWrite(EN,0);
    
    if (ms<dbupper) digitalWrite(CWCCW,1);
    if (ms>dblower) digitalWrite(CWCCW,0);
    
    
  
  if (timeout>200000) {
    Serial.println("Timeout!");
    digitalWrite(EN,1);
    digitalWrite(CWCCW,1);
  }
  if (timeout>300000) timeout=200001;
  
  
  
digitalWrite(13,digitalRead(pin));

}