The Open Academic Robot Kit

Note that some Bluetooth dongles don't work properly with these drivers. I'm using a cheap CSR-chip-based dongle. Info from http://booting-rpi.blogspot.ro/2012/08/dualshock-3-and-raspberry-pi.html .

• Update the Raspberry Pi:

  $ sudo apt-get update; sudo apt-get upgrade

• Install Bluetooth:

  $ sudo apt-get install bluez-utils bluez-compat bluez-hcidump checkinstall libusb-dev libbluetooth-dev joystick

• Check dongle:

  $ hciconfig
  hci0:   Type: BR/EDR  Bus: USB
          BD Address: 00:15:83:CE:A5:7C  ACL MTU: 310:10  SCO MTU: 64:8
          UP RUNNING PSCAN 
          RX bytes:1489 acl:0 sco:0 events:74 errors:0
          TX bytes:1276 acl:0 sco:0 commands:73 errors:0

• Download and compile controller. See http://www.pabr.org/sixlinux/sixlinux.en.html .

  $ mkdir sixaxis ; cd sixaxis ; wget http://www.pabr.org/sixlinux/sixpair.c ; gcc -o sixpair sixpair.c -lusb

• Plug in the PS3 controller through a USB mini-B cable. Raspberry Pis with not so many ports may need to use a USB hub.
• Run the sixpair program.

  $ sudo ./sixpair
  Current Bluetooth master: 78:dd:08:11:3c:9c
  Setting master bd_addr to 00:15:83:ce:a5:7c

• Download and compile the SixAxis joystick manager. During the checkinstall process just accept the defaults. Manager reference: http://qtsixa.sourceforge.net/ Manager manual: http://qtsixa.sourceforge.net/manual.pdf

  $ wget http://sourceforge.net/projects/qtsixa/files/QtSixA%201.5.1/QtSixA-1.5.1-src.tar.gz
  $ tar -xzvf QtSixA-1.5.1-src.tar.gz
  $ cd QtSixA-1.5.1/sixad
  $ make
  $ sudo mkdir -p /var/lib/sixad/profiles
  $ sudo checkinstall

• Unplug the SixAxis controller
• Manually pair.

  $sudo sixad --start
  sixad-bin[6851]: started
  sixad-bin[6851]: sixad started, press the PS button now
  sixad-bin[6851]: unable to connect to sdp session
  sixad-bin[6851]: Connected Sony Computer Entertainment Wireless Controller (04:76:6E:4C:06:F8)

• Set to run at bootup.

  $ sudo update-rc.d sixad defaults
  $ sudo reboot

• Test the controller. You should see the values change as you move the joysticks.

  $ sudo jstest /dev/input/js0