//imports the library
#include "PSP-Nx-v4-lib.nxc"

//Defines receiver module address for I2C communication
#define ADDR     0x02

//Defines input port as 1 (change as seen fit)
const byte SensorPort  =  IN_1;

task main(){

//Initializes variables associated with button/stick inputs
  psp currState;
  psp pressures;

//Initializes PS2 controller connection
  PSPV4_Init(SensorPort, ADDR);

  while(true) {

//continuously reads controller button and stick values
    PSPV4_ReadButtonStateWithPressure(SensorPort, ADDR, currState, pressures);

//Puts current state of left joystick ranged [-100:100] into integer variable 
    int leftStick = currState.l_j_y;

//Move motor forward based on leftStick value
   OnFwd(OUT_A, leftStick);
  }
}