 
 }
 
-void arm(){
+inline void arm(){
 
   a.write(ESC_MIN);
   b.write(ESC_MIN);

  }
}

void initESCs(){

  a.attach(ESC_A);
  b.attach(ESC_B);


}

inline void rcInterrupt1(){
   if(!interruptLock) ch1 = micros() - rcLastChange1;
   rcLastChange1 = micros(); 
}

inline void rcInterrupt2(){
  if(!interruptLock) ch2 = micros() - rcLastChange2;
  rcLastChange2 = micros();
}

inline void rcInterrupt3(){
  if(!interruptLock) ch3 = micros() - rcLastChange3;
  rcLastChange3 = micros();
}

inline void rcInterrupt4(){
  if(!interruptLock) ch4 = micros() - rcLastChange4;
  rcLastChange4 = micros();
}

inline void rcInterrupt5(){
  if(!interruptLock) ch5 = micros() - rcLastChange5;
  rcLastChange5 = micros();
}

inline void acquireLock(){
  interruptLock = true; 
}

inline void releaseLock(){
  interruptLock = false;
}

