 
 void calcSignal1() {
   last_interrupt_time1 = micros();
-  if (digitalRead(A1) == HIGH) {
+  if (digitalRead(A0) == HIGH) {
     chrono_start1 = micros();
   }
   else {


void calcSignal2() {
  last_interrupt_time2 = micros();
  if (digitalRead(A2) == HIGH) {
    chrono_start2 = micros();
  }
  else {

  bno.setExtCrystalUse(true);

  //RX init
  attachInterrupt(A4, calcSignal0, CHANGE);
  attachInterrupt(A0, calcSignal1, CHANGE);
  attachInterrupt(A1, calcSignal2, CHANGE);
  attachInterrupt(A2, calcSignal3, CHANGE);
  attachInterrupt(A3, calcSignal4, CHANGE);

  //Motors init
  esc_1.attach(MOTOR_PIN_FRONT_RIGHT, 1000, 2000);
