The Open Academic Robot Kit

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=== Getting the PS3 Dual Shock controller working with Raspberry Pi ===

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: <code>$ sudo apt-get update; sudo apt-get upgrade</code>
  * Install Bluetooth: <code>$ sudo apt-get install bluez-utils bluez-compat bluez-hcidump checkinstall libusb-dev libbluetooth-dev joystick</code>
  * Check dongle: <code>$ 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
</code>
  * Download and compile controller. See http://www.pabr.org/sixlinux/sixlinux.en.html . <code>$ mkdir sixaxis ; cd sixaxis ; wget http://www.pabr.org/sixlinux/sixpair.c ; gcc -o sixpair sixpair.c -lusb</code>
  * 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. <code>$ sudo ./sixpair
Current Bluetooth master: 78:dd:08:11:3c:9c
Setting master bd_addr to 00:15:83:ce:a5:7c</code>
  * 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 <code>$ 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</code>
  * Unplug the SixAxis controller
  * Manually pair. <code>$sudo sixad --start
sixad-bin[6851]: started
sixad-bin[6851]: sixad started, press the PS button now
sixad-bin[6851]: unable to connect to sdp session
sixad-bin[6851]: Connected Sony Computer Entertainment Wireless Controller (04:76:6E:4C:06:F8)</code>
  * Set to run at bootup. <code>$ sudo update-rc.d sixad defaults
$ sudo reboot</code>
  * Test the controller. You should see the values change as you move the joysticks. <code>$ sudo jstest /dev/input/js0</code>
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