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Arduino Mecanum drive using PWM?

I have been trying to program an Arduino Uno to take PWM signals from a spectrum RC receiver and mix those signals to control 4 motors on a mecanum drive bot. Although I don't have the bot built/designed yet I have been trying to get some of the code working. My issue is that when ever I try to use more than one pulseIn command it adds about 1 second of lag per pulseIn command. I am controlling a servo through this setup.

The code:

Code:

#include <Servo.h>



Servo FLS; //front left servo

Servo FRS; //front right servo...

Servo RLS;

Servo RRS;

int Forward = 1; //Inputs from RC receiver

int Strafe = 2;  

int Rotate = 3;  

unsigned long ForwardDuration; //To store the duration of the pulses

unsigned long StrafeDuration;    //coming from the receiver

unsigned long RotateDuration;

unsigned long FL; //Front Left Value

unsigned long FR; //Front Right Value...

unsigned long RL;

unsigned long RR;



void setup()

{

  FLS.attach(10);

  FRS.attach(11);

  RLS.attach(12);

  RRS.attach(13);

  pinMode(Forward, INPUT);

  pinMode(Strafe, INPUT);

  pinMode(Rotate, INPUT);

}



void loop()

{

  ForwardDuration = pulseIn(Forward, HIGH); //read receiver inputs

  StrafeDuration = pulseIn(Strafe, HIGH);

  RotateDuration = pulseIn(Rotate, HIGH);

  FL = ForwardDuration + StrafeDuration + RotateDuration;

  FR = ForwardDuration - StrafeDuration - RotateDuration;

  RL = ForwardDuration - StrafeDuration + RotateDuration;

  RR = ForwardDuration + StrafeDuration - RotateDuration;

  FLS.writeMicroseconds(FL);

  FRS.writeMicroseconds(FR);

  RLS.writeMicroseconds(RL);

  RRS.writeMicroseconds(RR);  

}

My initial thought was to add interrupts but I'm not exactly sure how to do that.

My attempt at using Interrupts:

Code:

#include <Servo.h>



Servo FLS; //front left servo

Servo FRS; //front right servo...

Servo RLS;

Servo RRS;

int Forward = 1; //Inputs from RC receiver

int Strafe = 2;  

int Rotate = 3;  

volatile unsigned long ForwardDuration; //To store the duration of the pulses

volatile unsigned long StrafeDuration;    //coming from the receiver

volatile unsigned long RotateDuration;

volatile unsigned long FL; //Front Left Value

volatile unsigned long FR; //Front Right Value...

volatile unsigned long RL;

volatile unsigned long RR;



void setup()

{

  attachInterrupt(0, reciever, CHANGE);

  FLS.attach(10);

  FRS.attach(11);

  RLS.attach(12);

  RRS.attach(13);

  pinMode(Forward, INPUT);

  pinMode(Strafe, INPUT);

  pinMode(Rotate, INPUT);

}



void loop()

{

  FLS.write(FL);

  FRS.writeMicroseconds(FR);

  RLS.writeMicroseconds(RL);

  RRS.writeMicroseconds(RR);

}

void reciever()

 {

  ForwardDuration = pulseIn(Forward, HIGH); //read receiver inputs

  StrafeDuration = pulseIn(Strafe, HIGH);

  RotateDuration = pulseIn(Rotate, HIGH);



  FL == ForwardDuration + StrafeDuration + RotateDuration;

  FR == ForwardDuration - StrafeDuration - RotateDuration;

  RL == ForwardDuration - StrafeDuration + RotateDuration;

  RR == ForwardDuration + StrafeDuration - RotateDuration;

 }

The reason I am posting here and not on the Arduino forums is that it wont load on my computer right now so I thought I'd try my shot with CD and see if anyone here could help.