PlayStation DualShock3

Install for wireless connection

Please refer to https://retropie.org.uk/forum/topic/2913/guide-use-qtsixa-on-ubuntu-16-04-and-derivatives

$ sudo apt-get install  pyqt4-dev-tools   libusb-dev libjack-dev libbluetooth-dev python-dbus -y
$ git clone https://github.com/falkTX/qtsixa.git
$ cd qtsixa
$ make
$ sudo make install

Pairing

Connect the controller with host PC via USB cable, and run following command:

$ sudo sixpair

Wireless Connection

Unplug the joystick from the computer, and run following command:

$ sixad --start

Press the PS button in the middle of the joystick and the connection will be activated.

Start sixad on boots

edit /etc/rc.local, and add following description before exit 0

sixad --start 

Note: if you can not connect with pc even pressing the PS button, please restart the sixad by following command:

$ sixad -r

Common commands:

| command | action | |:-:|:-:| | start| motor arming (please do this before takeoff)| | cross-left + circle | takeoff (this can be received by robot only after motor arming)| | cross-right + square| landing| | select (short push) | force landing (without xy position control, robot will descend slowly)| | select (long push, > 2.0s) | halt (i.e. stop motor immediately )| | triangle | xy(horizontal) velocity control mode| | cross(X) | xy(horizontal) position control mode| | cross-down| xy(horizontal) attitude control mode| | left stick vertical| movement in world x axis (only available in velocity/attitude control mode)| | left stick horizontal| movement in world y axis (only available in velocity/attitude control mode)| | left stick vertical + L2| movement in baselink (local) x axis (only available in velocity/attitude control mode)| | left stick horizontal + L2| movement in baselink (local) y axis (only available in velocity/attitude control mode) | | right stick vertical| movement in z axis | | right stick horizontal| movement in yaw axis |

For more information about ps3joy in ros, please check here