Хуй ардуине в жопу, рабочий код!

#include <XBOXRECV.h>

// Satisfy the IDE, which needs to see the include statment in the ino too.
#ifdef dobogusinclude
#include <spi4teensy3.h>
#include <SPI.h>
#endif

USB Usb;
XBOXRECV Xbox(&Usb);

int motorPin = 3;
int motorPin1 = 5;
int reversePin = 4;
int reversePin1 = 6;

int motorSpeed;
bool direction;
bool is_stick;
bool hold_A;

void setup() {
  pinMode(motorPin, OUTPUT);
  pinMode(reversePin, OUTPUT);
  Serial.begin(115200);
  #if !defined(__MIPSEL__)
    while (!Serial); // Wait for serial port to connect - used on Leonardo, Teensy and other boards with built-in USB CDC serial connection
  #endif
  if (Usb.Init() == -1) {
    Serial.print(F("\r\nOSC did not start"));
    while (1); //halt
  }
  motorSpeed = 0;
  digitalWrite(reversePin, HIGH);
  Serial.print(F("\r\nXbox Wireless Receiver Library Started"));
}


void loop() {
  Usb.Task();
  if(Xbox.XboxReceiverConnected){

    is_stick = false;
    hold_A = false;

    for(uint8_t i = 0; i < 4; i++){
      if(Xbox.Xbox360Connected[i]){
        if(Xbox.getAnalogHat(LeftHatY, i)>7500){
          is_stick = true;
          direction = true;
        }

        if(Xbox.getAnalogHat(LeftHatY, i)<-7500){
          is_stick = true;
          direction = false;
        }

        if(Xbox.getButtonPress(A, i)){
          hold_A = true;
        }

      }
    }

//    Serial.println(is_stick);

    if(is_stick){
      // direction == true  - вперед
      // direction == false  - назад
      if(direction){
        if(hold_A)
          analogWrite(motorPin, 127);
        else
          analogWrite(motorPin, 255);
        digitalWrite(reversePin, LOW);
      }else{
        if(hold_A)
          analogWrite(motorPin, 127-255);
        else
          analogWrite(motorPin, 0);
        digitalWrite(reversePin, HIGH);
      }
    }else{
      if(direction){
        analogWrite(motorPin, 0);
      }else{
        analogWrite(motorPin, 255);
      }
    }

  }
}