PS3 gamepad controlling LEGO Mindstorms EV3 delta robot directly over Bluetooth

http://www.pabr.org/bricks/brickhid/ A small C program running on the EV3 brick receives data from the PS3 SIXAXIS over Bluetooth HIDP, maps stick positions to angular setpoints, and sends motor commands to the Mindstorms firmware using the EV3 TCP protocol. The triangle button initiates a homing procedure. Using this approach, EV3 can interact with many Bluetooth HID devices (gamepads, keyboards, mice).This offers richer control options than the stock IR remote and a more familiar user experience than Android/iOS-based remote controls. In earlier approaches the gamepad would connect to a PC over Bluetooth or USB, and the PC would send commands to the EV3 brick over Bluetooth or WiFi. Here the gamepad connects directly to the EV3 brick. The WiFi dongle is only used to upload and start the program. See http://www.pabr.org/bricks/brickhid/ for details.