int chan6 = 7;//fire int chan5 = 6; //rev forward int chan3 = 5; //throttle int forward = 8; int backward = 9; int speedpin = 10; int fire = 11; unsigned long c6; unsigned long c5; unsigned long c3; void setup() { pinMode(chan6, INPUT); pinMode(chan5, INPUT); pinMode(chan3, INPUT); pinMode(fire, OUTPUT); pinMode(forward, OUTPUT); pinMode(backward, OUTPUT); pinMode(speedpin, OUTPUT); Serial.begin(9600); } void loop() { c6 = pulseIn(chan6, HIGH);//fire c5 = pulseIn(chan5, HIGH); //rev forward c3 = pulseIn(chan3, HIGH); //throttle Serial.println(c6); Serial.print(" "); Serial.print(c5); Serial.print(" "); Serial.print(c3); Serial.print(" "); c3 = constrain(c3, 1000, 2000); c3 = map(c3, 1000, 2000, 0, 220); analogWrite(speedpin, c3); if( c5 > 1500) { digitalWrite(forward, LOW); digitalWrite(backward, HIGH); } else{ digitalWrite(forward, HIGH); digitalWrite(backward, LOW); } if(c6 > 1500) { digitalWrite(fire, HIGH); } else { digitalWrite(fire, LOW); } }