A python script to control a 4-wheel skid steer robot with a PlayStation 4 Dualshock 4 controller and a Raspberry Pi 4 which I use to test mapping algorithms on a mobile robot.

• RPi.GPIO
• pyPS4Controller

• Raspberry Pi 4
• L298N motor driver

Set the appropriate values at the top of the script. In my setup, two motors from the same side are connected to one output on the L298N. Connect your PS4 controller to the Raspberry Pi and run the script.

• L2: drive forward
• R2: drive backward
• L1: turn left in place
• R1: turn right in place
• L3: adjust turn factor for forward and reverse driving