rc pwm

#define pulseInPin A0    // select the input pin for the potentiometer
#define PWMOutPin 3  //PWM pin
#define dirR 4
#define dirL 5

int timeIn = 0;  // variable to store the value coming from the sensor
int timeMid = 1500;
int offset = 50;
int PWMval;

void setup() {
  // declare the ledPin as an OUTPUT:

  pinMode(pulseInPin, INPUT);
  pinMode(PWMOutPin, OUTPUT);
  pinMode(dirL, OUTPUT);
  pinMode(dirR, OUTPUT);
  Serial.begin(9600);
}

void loop() {
  // read the value from the sensor:
  timeIn = pulseIn(pulseInPin, HIGH);
  if(timeIn > 2500) {timeIn = timeMid;}
  if(timeIn < 500) {timeIn = timeMid;}

  Serial.println(timeIn);
  if(timeIn > timeMid + offset)
  {
    fwd();
  }else if(timeIn < timeMid - offset)
  {
    rwd();
  }
  else {
    neutral();
  }
}

void fwd()
{
  int timeCalc;
  digitalWrite(dirR, HIGH);
  digitalWrite(dirL, LOW);
  timeCalc = abs(timeIn - timeMid);
  PWMval = map(timeCalc, 0, 500, 0, 255);
  analogWrite(PWMOutPin, PWMval);
}
void rwd()
{
  int timeCalc;
  digitalWrite(dirR, LOW);
  digitalWrite(dirL, HIGH);
  timeCalc = abs(timeIn - timeMid);
  PWMval = map(timeCalc, 0, 500, 0, 255);
  analogWrite(PWMOutPin, PWMval);
}
void neutral()
{
  digitalWrite(dirR, LOW);
  digitalWrite(dirL, LOW);
  analogWrite(PWMOutPin, 0);
}