@HDprinting_2959222 You need to include the BluePad32 library. The BluePad32 library supports many controllers. See list of supported controllers here:
https://bluepad32.readthedocs.io/en/latest/supported_gamepads/
You can get ProfBoots code on his Discord server or you can look at my code for the skid steer with instructions here: https://github.com/swholmstead/SkidSteer
My code has speed and steering on the left joystick, with arm and bucket on the right joystick, and claw on dpad up/down buttons. The A button will turn on/off lights. (edited)
@swholmstead can you share how to do the xbox one controller instead of ps3
I made an articulated dump truck that is scaled to work with the RC Skid Steer: https://www.printables.com/model/1189649-3d-printed-rc-articulated-dump-truck