Xbox_RC

#include <XBOXUSB.h>                                                   //Include the necessary libraries.
#include <Servo.h>
#include <SPI.h>

USB Usb;
XBOXUSB Xbox(&Usb);

Servo servo1;                                                         //Create instances of type Servo. servo1 is the steering servo and servo2 is the ESC.
Servo servo2;

int offset = 0; // put this with the other global variables (above the void setup() function).
int steer = 127; // put this with the other global variables (above the void setup() function).

void setup() {
  Serial.begin(115200);
  if (Usb.Init() == -1) {
    Serial.print(F("\r\nOSC did not start"));
    while(1); //halt
  }
  Serial.print(F("\r\nXBOX USB Library Started"));
  pinMode(5, OUTPUT);
  pinMode(6, OUTPUT);
  servo1.attach(5);                                                  //Steering servo on digital pin 5
  servo2.attach(6);                                                  //ESC on sigital pin 6
}
void loop()
{
  Usb.Task();

  if (Xbox.Xbox360Connected) {

    steer = Xbox.getAnalogHat(LeftHatX); // read right joystick

    if(Xbox.getButtonClick(RIGHT)) { // trim right
      offset += 1;
    }
    if(Xbox.getButtonClick(LEFT)) { // trim left
      offset -= 1;
    }

    steer = steer + offset; // incorporate trim into steer command
    if(steer > 255) steer = 255; // enforce upper limit
    if(steer < 0) steer = 0; // enforce lower limit

    servo1.write(map(steer, 0, 255, 0, 180)); // write steer command (THE LAST TWO VARIABLES MAY HAVE TO BE CHANGED TO LIMIT RANGE OF MOTION OF SERVO)
    servo2.write(map(Xbox.getAnalogHat(RightHatY), 0, 255, 180, 0)); // write throttle command

  }
  else
   {
    servo1.write(90);
    servo2.write(90);
   }

    if(Xbox.getButtonClick(XBOX)) {
      Xbox.disconnect();
   }
}