Arduino + 1Sheeld + IBT_2 RC-Car Control

#define CUSTOM_SETTINGS
#define INCLUDE_GAMEPAD_SHIELD

/* Include 1Sheeld library. */
#include <OneSheeld.h>
#include <Servo.h>
#include <Wire.h>

Servo SteeringServo;
int MaxSteerAngle = 30;
int Speed = 0;
int MaxSpeed = 100;

int RPWM_Output = 5; // Arduino PWM output pin 5; connect to IBT-2 pin 1 (RPWM)
int LPWM_Output = 6; // Arduino PWM output pin 6; connect to IBT-2 pin 2 (LPWM)

void setup() {
  Serial.begin(115200);
  OneSheeld.begin();

  pinMode(RPWM_Output, OUTPUT);
  pinMode(LPWM_Output, OUTPUT);

  SteeringServo.attach(7);
}

void loop() {



  if (GamePad.isUpPressed()) {            // Forwards
    analogWrite(LPWM_Output, 0);
    analogWrite(RPWM_Output, Speed);
  }

  if (GamePad.isDownPressed()) {
    analogWrite(LPWM_Output, Speed);          // Backwards
    analogWrite(RPWM_Output, 0);
  }

  if (GamePad.isRightPressed()) {         // Steer Left
    SteeringServo.write(90 + MaxSteerAngle);
  }

  if (GamePad.isLeftPressed()) {          // Steer Right
    SteeringServo.write(90 - MaxSteerAngle);
  }

  if (GamePad.isRedPressed()) {           // Stop all Engines
    analogWrite(LPWM_Output, 0);
    analogWrite(RPWM_Output, 0);
  }

  if (GamePad.isBluePressed()) {           // Steer Straight
    SteeringServo.write(90);
  }

  if (GamePad.isOrangePressed()) {        // Speed +
    Speed = Speed + 10;
    if (Speed >= MaxSpeed) {
      Speed = MaxSpeed;
    }
    delay(100);
  }

  if (GamePad.isGreenPressed()) {         // Speed -
    Speed = Speed - 10;
    if (Speed <= 0) {
      Speed = 0;
    }
    delay(100);
  }
}