IPST-SE Motor Control With Bluestick and Joy PSX

#include <ipst.h> // IPST-SE Board
#include <PS2X_lib.h>
#define PS2_DAT  26
#define PS2_CMD  27
#define PS2_SEL  28
#define PS2_CLK  29
int error;
int x;
PS2X psx;
void setup(){
  setTextSize(2);glcdMode(1);
  glcd(0,0,"OK->Bluetooth");
  glcd(1,0,"SW1->JOY PSX");
  while(1){
    if(sw1()){joy();}
    if(sw_OK()){blue();}
  }
}
void loop(){}
void blue(){
  glcdClear();
  setTextSize(3);glcdMode(1);
  setTextColor(GLCD_BLUE);
  glcd(1,0,"Bluetooth");
  pinMode(2,INPUT_PULLUP);
  while(!sw1()){
    if (uart1_available()) {
       x=uart1_getkey();
      if(x==0x38){fd(100);}
      else if(x==0x32){bk(100);}
      else if(x==0x34){sl(100);}
      else if(x==0x36){sr(100);}
      else {ao();}
    }
  }
}
void joy(){
  glcdClear();
  setTextSize(3);glcdMode(1);
  setTextColor(GLCD_YELLOW);
  glcd(1,0,"JOY PSX");
   while(1){
    if (!psx.config_gamepad(PS2_CLK, PS2_CMD, PS2_SEL, PS2_DAT, false, false)){
      setTextColor(GLCD_RED);setTextSize(2);
      glcd(3,0,"Connected ");
      break;
    }
   }
   while(!sw_OK()){
   psx.read_gamepad(0,0);    // Read PSX
    if(psx.Button(PSB_PAD_UP)||psx.Button(PSB_TRIANGLE)){fd(100);}
    else if(psx.Button(PSB_PAD_DOWN)||psx.Button(PSB_CROSS)){bk(100);}
    else if(psx.Button(PSB_PAD_LEFT)||psx.Button(PSB_SQUARE)){sl(100);}
    else if(psx.Button(PSB_PAD_RIGHT)||psx.Button(PSB_CIRCLE)){sr(100);}
    else{ao();}
  }
}