void setup() {
	Serial.begin(9600);

	pinMode(LEFT_MOTOR_PIN, OUTPUT);
	pinMode(RIGHT_MOTOR_PIN, OUTPUT);
	pinMode(LEFT_MOTOR_DIRECT_PIN, OUTPUT);
	pinMode(RIGHT_MOTOR_DIRECT_PIN, OUTPUT);

	for(byte i = LOW_CHANNEL; i <= NUM_CHANNELS; i++) {
		pinMode(channels[i], INPUT);
	}

	delay(2000);
}