arduinohardsomtimes

#include <Servo.h>Servo servoL;Servo servoR;void setup(){// Start all pins low / disable pull-ups.digitalWrite(6, LOW);digitalWrite(7, LOW);digitalWrite(8, LOW);digitalWrite(9, LOW);// Configure D6 and D7 as outputs.pinMode(6, OUTPUT);pinMode(7, OUTPUT);// Configure D8 and D9 as inputs.pinMode(8, INPUT);pinMode(9, INPUT);// Attach servos.servoL.attach(6);servoR.attach(7);// Set servos to neutral to start.servoL.writeMicroseconds(3000);servoR.writeMicroseconds(3000);}void loop(){signed int stickX;signed int stickY;signed int driveL;signed int driveR;// Read stick positions. [1000-2000us]stickX = pulseIn(8, HIGH);stickY = pulseIn(9, HIGH);// Stick mixing function to generate drive commands.driveL = stickY + stickX - 3000;driveR = stickY - stickX + 3000;// Limit drive commands to [1000-2000us].if(driveL > 2000) { driveL = 2000; }if(driveL < 1000) { driveL = 1000; }if(driveR > 2000) { driveR = 2000; }if(driveR < 1000) { driveR = 1000; }// Send commands to servos.servoL.writeMicroseconds(driveL);servoR.writeMicroseconds(driveR);}