Xbox 2 движка + xbox

#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;

void setup() {
  pinMode(motorPin, OUTPUT);
  pinMode(reversePin, OUTPUT);
  pinMode(motorPin1, OUTPUT);
  pinMode(reversePin1, 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
  }
  Serial.print(F("\r\nXbox Wireless Receiver Library Started"));
}

void motor_forward(int motorPin, int reversePin, bool speed){
  digitalWrite(reversePin, LOW);
  analogWrite(motorPin, 255-127*speed);
}

void motor_back(int motorPin, int reversePin, bool speed){
  digitalWrite(reversePin, HIGH);
  analogWrite(motorPin, 0 - 127*speed);
}

void motor_stop(int motorPin, int reversePin){
  digitalWrite(reversePin, LOW);
  analogWrite(motorPin, 0);
}

bool is_stick_X;
bool forward;
bool right;
bool hold_A;
bool is_stick;

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

    is_stick_X = false;
    forward = true;
    right = false;
    hold_A = false;
    is_stick = false;

    for(uint8_t i = 0; i < 4; i++){
      if(Xbox.Xbox360Connected[i]){

        if(Xbox.getAnalogHat(LeftHatY, i)>20000 || Xbox.getAnalogHat(LeftHatY, i)<-20000||
          Xbox.getAnalogHat(LeftHatX, i)>20000 || Xbox.getAnalogHat(LeftHatX, i)<-20000){

          is_stick = true;

          if(Xbox.getAnalogHat(LeftHatY, i)>20000){
            forward = true;
            is_stick_X = false;
          }

          if(Xbox.getAnalogHat(LeftHatY, i)<-20000){
            forward = false;
            is_stick_X = false;
          }

          if(Xbox.getAnalogHat(LeftHatX, i)>20000){
            right = true;
            is_stick_X = true;
          }

          if(Xbox.getAnalogHat(LeftHatX, i)<-20000){
            right = false;
            is_stick_X = true;
          }

        }

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

      }
    }

    if(is_stick){
      if(!is_stick_X){
        if(forward){
          motor_forward(motorPin, reversePin, hold_A);
          motor_forward(motorPin1, reversePin1, hold_A);
        }else{
          motor_back(motorPin, reversePin, hold_A);
          motor_back(motorPin1, reversePin1, hold_A);
        }
      }else{
        if(right){
          motor_back(motorPin, reversePin, hold_A);
          motor_forward(motorPin1, reversePin1, hold_A);
        }else{
          motor_forward(motorPin, reversePin, hold_A);
          motor_back(motorPin1, reversePin1, hold_A);
        }
      }
    }else{
      motor_stop(motorPin, reversePin);
      motor_stop(motorPin1, reversePin1);
    }

  }
}