PS2 shield dc motor

/*
This example shows how to retrieve a button status on PS2 Controller.

Function:
  readButton(button); // Read button status, it will return corresponding data
                      // Digital button: 0 = pressed, 1 = released
                      // Analog button: return a value

  Digital button:
    PS2_SELECT
    PS2_JOYSTICK_LEFT
    PS2_JOYSTICK_RIGHT
    PS2_START
    PS2_UP
    PS2_RIGHT
    PS2_DOWN
    PS2_LEFT
    PS2_LEFT_2
    PS2_RIGHT_2
    PS2_LEFT_1
    PS2_RIGHT_1
    PS2_TRIANGLE
    PS2_CIRCLE
    PS2_CROSS
    PS2_SQUARE

  Analog button:
    PS2_JOYSTICK_LEFT_X_AXIS
    PS2_JOYSTICK_LEFT_Y_AXIS
    PS2_JOYSTICK_RIGHT_X_AXIS
    PS2_JOYSTICK_RIGHT_Y_AXIS
    PS2_JOYSTICK_LEFT_UP
    PS2_JOYSTICK_LEFT_DOWN
    PS2_JOYSTICK_LEFT_LEFT
    PS2_JOYSTICK_LEFT_RIGHT
    PS2_JOYSTICK_RIGHT_UP
    PS2_JOYSTICK_RIGHT_DOWN
    PS2_JOYSTICK_RIGHT_LEFT
    PS2_JOYSTICK_RIGHT_RIGHT

Product page:
  Cytron PS2 Shield: http://www.cytron.com.my/p-shield-ps2
  PS2 Controller: http://www.cytron.com.my/p-ps-gp-1
  CT-UNO: http://www.cytron.com.my/p-ct-uno

Original written by:
            Cytron Technologies

Modified:
  29/06/15  Idris, Cytron Technologies
*/

#include <SoftwareSerial.h>
#include <Cytron_PS2Shield.h>
#include <AFMotor.h>

Cytron_PS2Shield ps2(2, 3); // SoftwareSerial: Rx and Tx pin
//Cytron_PS2Shield ps2; // HardwareSerial

AF_DCMotor motor1(1);
AF_DCMotor motor2(2);
AF_DCMotor motor3(4);

int pwm_motor1 = 7;
int pwm_motor2 = 8;
int pwm_motor3 = 9;

void setup()
{
  ps2.begin(9600); // This baudrate must same with the jumper setting at PS2 shield
  Serial.begin(9600);
  Serial.println("Start");

}

void loop()
{
  // LED on main board will light up if 'Select' button is pressed
  if(ps2.readButton(PS2_UP) == 0) // 0 = pressed, 1 = released
  {
   Serial.println("Forward!!");
   motor1.run(FORWARD);
   motor2.run(FORWARD);

  }
  if(ps2.readButton(PS2_DOWN) == 0){
    Serial.println("Backward!!");
    motor1.run(BACKWARD);
    motor2.run(BACKWARD);
  }
  if(ps2.readButton(PS2_LEFT) == 0){
    Serial.println("Left!!");
    motor1.run(FORWARD);
  }
   if(ps2.readButton(PS2_RIGHT) == 0)
  {
    Serial.println("Right!!");
    motor2.run(FORWARD);
  }
  if(ps2.readButton(PS2_CROSS) == 0 ){
    Serial.println("Float!!");
    motor3.run(FORWARD);
  }
  if(ps2.readButton(PS2_SQUARE) == 0 ){
    Serial.println("Submerge");
    motor3.run(BACKWARD);
  }
  if(ps2.readButton(PS2_CIRCLE) == 0){
    Serial.println("Stop");
    motor1.run(RELEASE);
    motor2.run(RELEASE);
    motor3.run(RELEASE);
  }
}