MottodDrivingCode.ino

//Test Routine Program - By Stezipoo

#include <Servo.h>

//create servo objects
Servo steering;
Servo throttle;

int ledPin = 13;
int center = 95;
int right = 55;
int left = 130;

void setup()
{
  Serial.begin(9600);
  delay(250);

  pinMode(A1, INPUT);
  pinMode(16, INPUT);

  pinMode(7, OUTPUT);     //sets pin 9 to output
  pinMode(10, OUTPUT);

  steering.attach(7);   // attach steering servo to pin 9
  throttle.attach(10);  // attach ESC to pin 10

  steering.write(95);   // centers steering
  throttle.write(90);   // sets mid throttle
}

void loop()
{
  unsigned long STR_VAL = pulseIn(A1, HIGH, 25000); // Read the pulse width of
  unsigned long THR_VAL = pulseIn(16, HIGH, 25000); // each channel
 // Serial.printf("%d, %d,", STR_VAL, THR_VAL);

  // for (int ii = 1000; ii <2000; ii++)
  //STR_VAL = map(STR_VAL, 1000, 2000, 145, 35 );
  //THR_VAL = map(THR_VAL, 1000, 2000, 90, 135);

  steering.writeMicroseconds(STR_VAL);
  throttle.writeMicroseconds(THR_VAL);
  delay(10);
 // Serial.printf("%d, %d\n", STR_VAL, THR_VAL);
}