Controling the SSC-32 with a PS2 controller

Hi all i was jest wondering if there is a way to control a robot using the SSC-32 with the bot board 2 and its ps2 controller.

All of our hexapods use a PS2 controller and Bot Board II with Atom Pro 28 to send commands to an SSC-32. Take a look in this section for how we do it with our hexapods with sample code.