//#include
#include //for v1.6
PS2X ps2x;
//Servo myservo;
#define PS2_DAT 13 //14
#define PS2_CMD 7 //15
#define PS2_SEL 8 //16
#define PS2_CLK 12 //17
#define PWMA1 3 //Motor A's pin
#define PWMA2 5 //Motor A's pin
#define PWMA3 9 //Motor A's pin
#define PWMA4 6 //Motor A's pin
#define SERVOPIN 4 //servo's pin
#define SERVOMIN 30 //the angle of servo
#define SERVOMID 90
#define SERVOMAX 150
#define TURNLEFT myservo.write(SERVOMIN) //turn left
#define TURNMID myservo.write(SERVOMID) //turn middle
#define TURNRIGHT myservo.write(SERVOMAX) //turn right
#define MOTORFOWARD setMotorA(255) //motor foward
#define MOTORBACK setMotorA(-255) //motor back
#define MOTORSTOP setMotorA(0) //motor stop
bool EnableRockerR = 1;
bool EnableRockerL = 1;
int RMid = 0 ;
int LStop = 0 ;
#define pressures false
#define rumble false
int error = 0;
byte type = 0;
byte vibrate = 0;
void setup() {
Serial.begin(57600);
pinMode(PWMA1, OUTPUT);
pinMode(PWMA2, OUTPUT);
pinMode(PWMA3, OUTPUT);
pinM