PlayStation 2 controller / driver / motors

Помогите понять , что отвечает за движение колеса вперёд и назад , когда мы двигаем стик

#include <PS2X_lib.h> //for v1.6
#include <Servo.h>
PS2X ps2x;
int PS2 = 0;
Servo LXservo;


const int in1 = 3; // direction pin 1
const int in2 = 2; // direction pin 2
const int ena = 6; // PWM pin to change speed

int fspeed; // forward speed

void setup(){
LXservo.attach(6);
PS2 = ps2x.config_gamepad(52,48,50,46, true, true); //Настройка выводов: (clock, command, attention, data, true, true)
pinMode(in1, OUTPUT); // connection to L298n
pinMode(in2, OUTPUT); // connection to L298n
pinMode(ena, OUTPUT); // connection to L298n
pinMode(14, OUTPUT); // Фары
pinMode(15, OUTPUT); // Стопаки
pinMode(16, OUTPUT); // Стопаки от кнопки
pinMode(1, OUTPUT); // Поворот на лево
pinMode(7, OUTPUT); // Поворот на право
}



void loop(){
ps2x.read_gamepad();
if(ps2x.ButtonPressed(PSB_CIRCLE)) digitalWrite(8, HIGH);
if(ps2x.ButtonPressed(PSB_TRIANGLE)) digitalWrite(8, LOW);
if(ps2x.ButtonPressed(PSB_SQUARE)) digitalWrite(5, HIGH);
if(ps2x.ButtonPressed(PSB_CROSS)) digitalWrite(5, LOW);
// if(ps2x.ButtonPressed(PSB_R1)) digitalWrite(7, HIGH);
// if(ps2x.ButtonPressed(PSB_R2)) digitalWrite(7, LOW);

if (ps2x.Analog(PSS_LY) == 123) {analogWrite(ena, 0);digitalWrite(in1, LOW);digitalWrite(in2, LOW);}

if (ps2x.Analog(PSS_LY) > 123){
fspeed = map(ps2x.Analog(PSS_LY), 124, 255, 0, 255);
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
analogWrite(ena, fspeed);
digitalWrite(15, HIGH);
}
if (ps2x.Analog(PSS_LY) < 123){
fspeed = map(ps2x.Analog(PSS_LY), 0, 122, 255, 0);
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
analogWrite(ena, fspeed);
digitalWrite(15, LOW);
}
LXservo.write(map(ps2x.Analog(PSS_RX), 0, 255, 65, 105));

if (ps2x.Analog(PSS_RX) < 120){
digitalWrite(1, HIGH);
digitalWrite(7, LOW);
}
if (ps2x.Analog(PSS_RX) > 150){
digitalWrite(7, HIGH);
digitalWrite(1, LOW);
}
if (ps2x.Analog(PSS_RX) > 120 && ps2x.Analog(PSS_RX) < 150){
digitalWrite(1, LOW);
digitalWrite(7, LOW);
}
delay(5);

}

 

if (ps2x.Analog(PSS_LY) > 123){
fspeed = map(ps2x.Analog(PSS_LY), 124, 255, 0, 255);
digitalWrite(in1, LOW);
digitalWrite(in2, HIGH);
analogWrite(ena, fspeed);
digitalWrite(15, HIGH);
}
if (ps2x.Analog(PSS_LY) < 123){
fspeed = map(ps2x.Analog(PSS_LY), 0, 122, 255, 0);
digitalWrite(in1, HIGH);
digitalWrite(in2, LOW);
analogWrite(ena, fspeed);
digitalWrite(15, LOW);
}