$ cat /lib/udev/rules.d/99-steam-controller-perms.rules
# Valve USB devices
SUBSYSTEM=="usb", ATTRS{idVendor}=="28de", MODE="0666"
# Steam Controller udev write access
KERNEL=="uinput", SUBSYSTEM=="misc", TAG+="uaccess"

# Valve HID devices over USB hidraw
KERNEL=="hidraw*", ATTRS{idVendor}=="28de", MODE="0666"

# Valve HID devices over bluetooth hidraw
KERNEL=="hidraw*", KERNELS=="*28DE:*", MODE="0666"

# DualShock 4 over USB hidraw
KERNEL=="hidraw*", ATTRS{idVendor}=="054c", ATTRS{idProduct}=="05c4", MODE="0666"

# DualShock 4 wireless adapter over USB hidraw
KERNEL=="hidraw*", ATTRS{idVendor}=="054c", ATTRS{idProduct}=="0ba0", MODE="0666"

# DualShock 4 Slim over USB hidraw
KERNEL=="hidraw*", ATTRS{idVendor}=="054c", ATTRS{idProduct}=="09cc", MODE="0666"

# DualShock 4 over bluetooth hidraw
KERNEL=="hidraw*", KERNELS=="*054C:05C4*", MODE="0666"

# DualShock 4 Slim over bluetooth hidraw
KERNEL=="hidraw*", KERNELS=="*054C:09CC*", MODE="0666"