Remote Control Power Wheels

//arduino NANO RC receiver to PWM 
//Arduino Nano ATmega328P on dev/ttyUSB0
//Old bootloader
#include <EnableInterrupt.h>

#define SERIAL_PORT_SPEED 19200
#define RC_NUM_CHANNELS  2
#define RC_CH1  0
#define RC_CH2  1
#define enL 7
#define enR 8
#define RC_CH1_IN  A2
#define RC_CH2_IN  A3
#define LED 13

int x = 0;
int pwm = 0;

uint16_t rc_values[RC_NUM_CHANNELS];
uint32_t rc_start[RC_NUM_CHANNELS];
volatile uint16_t rc_shared[RC_NUM_CHANNELS];

void rc_read_values() {
  
  noInterrupts();
  memcpy(rc_values, (const void *)rc_shared, sizeof(rc_shared));
  interrupts(); 

}

void calc_input(uint8_t channel, uint8_t input_pin) {
  if (digitalRead(input_pin) == HIGH) {
    rc_start[channel] = micros();
  } else {
    uint16_t rc_compare = (uint16_t)(micros() - rc_start[channel]);
    rc_shared[channel] = rc_compare;
  }
}

void calc_ch1() { calc_input(RC_CH1, RC_CH1_IN); }
void calc_ch2() { calc_input(RC_CH2, RC_CH2_IN); }

void serialPrint() {
  Serial.print("CH1: "); Serial.println(rc_values[RC_CH1]);
  Serial.print("CH2: "); Serial.println(rc_values[RC_CH2]);
  Serial.print("pwm "); Serial.println(pwm);
  x = 0;
}
void setup() {
  Serial.begin(SERIAL_PORT_SPEED);

  pinMode(RC_CH1_IN, INPUT);
  pinMode(RC_CH2_IN, INPUT);
  
  pinMode(enL, OUTPUT);   // enable left
  pinMode(enR, OUTPUT);   // enable right
  //pinMode(2, INPUT);  //sensor1
  pinMode(6, OUTPUT);  //pwm left
  pinMode(9, OUTPUT);   //pwm left
  pinMode(10, OUTPUT);   //pwm right
  pinMode(11, OUTPUT);   //pwm right
  pinMode(LED, OUTPUT);   // LED
  //pinMode(2, INPUT_PULLUP)
  
  enableInterrupt(RC_CH1_IN, calc_ch1, CHANGE);
  enableInterrupt(RC_CH2_IN, calc_ch2, CHANGE);

  digitalWrite(enL, 0); // enable L
  digitalWrite(enR, 0); // enable R
}

void loop() {

  rc_read_values();
   
  //-----------stopped
  if ((rc_values[RC_CH2] < 1650) && (rc_values[RC_CH2] > 1450) && (rc_values[RC_CH1] > 1450) && (rc_values[RC_CH1] < 1550)) {
    digitalWrite(enL, 0);  //enable right
    digitalWrite(enR, 0);  //enable left
    //analogWrite(6, 0);
    //analogWrite(9, 0);
    //analogWrite(10, 0);
    //analogWrite(11, 0);

  }else{
  }

  // -----------Reverse
  if ((rc_values[RC_CH2] < 1450)  && (rc_values[RC_CH1] > 1450) && (rc_values[RC_CH1] < 1550)) { 
    digitalWrite(enL, 1);  //enable right
    digitalWrite(enR, 1);  //enable left
    analogWrite(6, 0);
    analogWrite(9, (map(rc_values[RC_CH2], 1000, 1450, 230, 20)));
    analogWrite(10, 0);
    analogWrite(11, (map(rc_values[RC_CH2], 1000, 1450, 230, 20)));
    
  } else {
    
  }

  // ----------forward
  if ((rc_values[RC_CH2] > 1560) && (rc_values[RC_CH1] > 1450) && (rc_values[RC_CH1] < 1560)) { 
    digitalWrite(enL, 1); // enable
    digitalWrite(enR, 1);  //enable 
    analogWrite(6, (map(rc_values[RC_CH2], 1550, 2000, 25, 210)));
    analogWrite(9, 0);
    analogWrite(10, (map(rc_values[RC_CH2], 1550, 2000, 25, 230)));
    analogWrite(11, 0);
  } else {
  }  

  // ----------forward right
    if ((rc_values[RC_CH2] > 1560) && (rc_values[RC_CH1] > 1560)) {
    digitalWrite(enL, 1);  //enable right
    digitalWrite(enR, 1);  //enable left
    analogWrite(6, (map(rc_values[RC_CH2], 1550, 2000, 20, 238)));
    analogWrite(9, 0);
    pwm = (map(rc_values[RC_CH2], 1550, 2000, 20, 250)-(map(rc_values[RC_CH1],1550, 2000, 20, 245)));
    if (pwm < 0) {
      pwm = 0; // make sure pwm is not negative
    }  
    analogWrite(10, (pwm));
    analogWrite(11, 0);

  } else {     
  }

  //-----------fwd left
  if ((rc_values[RC_CH2] > 1560) && (rc_values[RC_CH1] < 1450)) {   
    digitalWrite(enL, 1);  //enable right
    digitalWrite(enR, 1);  //enable left
    pwm = (map(rc_values[RC_CH2], 1550, 2000, 20, 238)-(map(rc_values[RC_CH1],1000, 1450, 230, 20)));
    if (pwm < 0) {
      pwm = 0; // make sure pwm is not negative
    }
    analogWrite(6, (pwm));
    analogWrite(9, 0); 
    analogWrite(10, (map(rc_values[RC_CH2], 1550, 2000, 20, 250)));
    analogWrite(11, 0);

  } else {
  }

  //-----------Right spin
  if ((rc_values[RC_CH1] > 1550) && (rc_values[RC_CH2] > 1450) && (rc_values[RC_CH2] < 1550)){
    digitalWrite(enL, 1);  //enable right
    digitalWrite(enR, 1);  //enable left
    analogWrite(6, (map(rc_values[RC_CH1], 1550, 2000, 0, 100))); 
    analogWrite(9, 0);
    analogWrite (10, 0);
    analogWrite(11, (map(rc_values[RC_CH1], 1550, 2000, 0, 100)));

  } else {
  }

  // --------left spin
  if ((rc_values[RC_CH1] < 1450) && (rc_values[RC_CH2] > 1450) && (rc_values[RC_CH2] < 1550)){ 
    digitalWrite(enL, 1);  //enable right
    digitalWrite(enR, 1);  //enable left
    analogWrite(6, 0);
    analogWrite(9, (map(rc_values[RC_CH1], 1000, 1450, 100, 0)));  
    analogWrite(10, (map(rc_values[RC_CH1], 1000, 1450, 100, 0)));
    analogWrite(11, 0);
  }

  // -----------Out of range
  if ((rc_values[RC_CH2] < 900)) {  
    digitalWrite(enL, 0);  //enable right
    digitalWrite(enR, 0);  //enable left
    digitalWrite(LED, 1);
  } else {
    digitalWrite(LED, 0);
  }

  x++;
  while(x > 60){ //print to serial every so often
    serialPrint();
   
  }
 
  delay(20);
}