RC transmitter control dc motor Arduino

/*
Arduino Code: Using RC controller to control DC motor speed and direction
Shield: 2A motor driver shield

*/
const int PulseInPin = A1;

int PulseVal = 0;
int MotorSpeed = 0;
int MotorDir = 0;

//Arduino PWM Speed Control：
int E1 = 5;
int M1 = 4;

void setup()
{
    pinMode(M1, OUTPUT);
    pinMode(E1, OUTPUT);

}

void loop()
{
      PulseVal = pulseIn(PulseInPin, HIGH); //1500 middle

    if(PulseVal > 1600)//Forward
    {
        MotorSpeed = map(PulseVal, 1600, 2000, 0, 255);

        digitalWrite(M1,HIGH);
        analogWrite(E1, MotorSpeed);
    }
    else if(PulseVal < 1400) //Backward
    {
        MotorSpeed = map(PulseVal, 1400, 1000, 0, 255);

        digitalWrite(M1,LOW);
        analogWrite(E1, MotorSpeed);
    }
    else //PulseVal: 1400-1600
    {  //STOP
        MotorSpeed = 0;
        analogWrite(E1, MotorSpeed);
    }

}