#include <Servo.h>  //For driving the ESCs and Servos
#include <PS2X_lib.h> // Bill Porter's PS2X Library

PS2X ps2x;  //The PS2 Controller Class

Servo UpRServo;  //Create servo object representing up right ESC


int RollLeftVal = 0; //Value read off the PS2 Left Stick left/right


  //Variables to carry the actual raw data for the ESCs
int upRraw = 0;


void setup()
{
  ps2x.config_gamepad(A0,A2,13,A1, true, false);
  //setup pins and settings: GamePad(clock, command, attention, data, Pressures?, Rumble?)
  //We have disabled the pressure sensitivity and rumble in this instance and
  //we know the controller type so we have not bothered with the error checks

  UpRServo.attach(6);// attaches the Up Right Servo to pin 6

}

void loop()
{
  ps2x.read_gamepad(); //This needs to be called at least once a second
                        // to get data from the controller.


//Analogue Stick readings

  RollLeftVal = ps2x.Analog(PSS_LX);

//Variables to carry the actual raw data for the ESCs

  upRraw = (127-RollLeftVal);  //This will be up to a value of 192


//Scale the values to be suitable for ESCs and Servos

  upRraw=map(upRraw,-127,127,0,179);


//Write it to the Servos or ESCs


  UpRServo.write(upRraw);


  delay(15);
}