diff --git a/Mini_Excavator_Code.ino b/Mini_Excavator_Code.ino
index 49661ea..3fb6cba 100644
--- a/Mini_Excavator_Code.ino
+++ b/Mini_Excavator_Code.ino
@@ -1,8 +1,16 @@
 #include "Adafruit_MCP23X17.h"
-#include <Ps3Controller.h>
 #include <ESP32Servo.h>  // by Kevin Harrington
+#include <AsyncTimer.h>
+
+
+
+#include <Bluepad32.h>
 
 // defines
+#define DEBUG true
+#define LED_BUILTIN 2
+#define BOOT_BUTTON 0
+
 #define clawServoPin 5
 #define auxServoPin 18
 #define cabLights 32
@@ -26,10 +34,16 @@
 #define rightMotor0 4
 #define rightMotor1 5
 
+//joystick config
+const int32_t fullzone = 250;
+const int32_t midzone = 100;
+const int32_t deadzone = 55;
 
+// setup outputs
 Adafruit_MCP23X17 mcp;
 Servo clawServo;
 Servo auxServo;
+
 int dly = 250;
 int clawServoValue = 90;
 int auxServoValue = 90;
@@ -44,326 +58,436 @@ bool moveClawServoDown = false;
 bool moveAuxServoUp = false;
 bool moveAuxServoDown = false;
 
-void notify() {
-  //--------------- Digital D-pad button events --------------
-  if (Ps3.event.button_down.up) {
-
-    mcp.digitalWrite(thumb0, HIGH);
-    mcp.digitalWrite(thumb1, LOW);
-    Serial.println("Started pressing the up button");
-  }
-  if (Ps3.event.button_up.up) {
-
-    mcp.digitalWrite(thumb0, LOW);
-    mcp.digitalWrite(thumb1, LOW);
-    Serial.println("Released the up button");
-  }
-  if (Ps3.event.button_down.down) {
-    Serial.println("Started pressing the down button");
-    mcp.digitalWrite(thumb0, LOW);
-    mcp.digitalWrite(thumb1, HIGH);
-  }
-  if (Ps3.event.button_up.down) {
-    Serial.println("Released the down button");
-    mcp.digitalWrite(thumb0, LOW);
-    mcp.digitalWrite(thumb1, LOW);
-  }
-  if (Ps3.event.button_down.right) {
-    mcp.digitalWrite(auxAttach0, HIGH);
-    mcp.digitalWrite(auxAttach1, LOW);
-    Serial.println("Started pressing the right button");
-  }
-  if (Ps3.event.button_up.right) {
-    mcp.digitalWrite(auxAttach0, LOW);
-    mcp.digitalWrite(auxAttach1, LOW);
-    Serial.println("Released the right button");
-  }
-  if (Ps3.event.button_down.left) {
-    mcp.digitalWrite(auxAttach0, LOW);
-    mcp.digitalWrite(auxAttach1, HIGH);
-    Serial.println("Started pressing the left button");
-  }
-  if (Ps3.event.button_up.left) {
-    mcp.digitalWrite(auxAttach0, LOW);
-    mcp.digitalWrite(auxAttach1, LOW);
-    Serial.println("Released the left button");
-  }
-  //---------------- Analog stick value events ---------------
-  if (abs(Ps3.event.analog_changed.stick.lx) + abs(Ps3.event.analog_changed.stick.ly) > 2) {
-    Serial.print("Moved the left stick:");
-    Serial.print(" x=");
-    Serial.print(Ps3.data.analog.stick.lx, DEC);
-    Serial.print(" y=");
-    Serial.print(Ps3.data.analog.stick.ly, DEC);
-    Serial.println();
-    int LXValue = Ps3.data.analog.stick.lx;
-    Serial.print("LXValue =");
-    Serial.print(LXValue);
-    if (LXValue > 115) {
+// Timer setup, see https://github.com/Aasim-A/AsyncTimer
+AsyncTimer asynctimer;
+
+unsigned short LEDintervalId;
+
+void setup_LEDinterval() {
+  LEDintervalId = asynctimer.setInterval([]() { 
+    digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN)); 
+    }, 500);
+}
+
+const unsigned int MAX_GAMEPADS = 1;
+// ControllerPtr myControllers[BP32_MAX_GAMEPADS];
+ControllerPtr myControllers[MAX_GAMEPADS];
+
+// This callback gets called any time a new gamepad is connected.
+// Up to 4 gamepads can be connected at the same time.
+void onConnectedController(ControllerPtr ctl) {
+    bool foundEmptySlot = false;
+    for (int i = 0; i < MAX_GAMEPADS; i++) {
+        if (myControllers[i] == nullptr) {
+            Serial.printf("CALLBACK: Controller is connected, index=%d\n", i);
+            // Additionally, you can get certain gamepad properties like:
+            // Model, VID, PID, BTAddr, flags, etc.
+            ControllerProperties properties = ctl->getProperties();
+            if (DEBUG) {
+              Serial.printf("Controller model: %s, VID=0x%04x, PID=0x%04x\n", ctl->getModelName().c_str(), properties.vendor_id,
+                           properties.product_id);
+            }
+            
+            myControllers[i] = ctl;
+            foundEmptySlot = true;
+
+            // cancel blinking LED and ensure it's on
+            asynctimer.cancel(LEDintervalId);
+            digitalWrite(LED_BUILTIN, HIGH);
+            break;
+        }
+    }
+    if (!foundEmptySlot && DEBUG) {
+        Serial.println("CALLBACK: Controller connected, but could not find empty slot");
+    }
+}
+
+void onDisconnectedController(ControllerPtr ctl) {
+    bool foundController = false;
+
+    for (int i = 0; i < MAX_GAMEPADS; i++) {
+        if (myControllers[i] == ctl) {
+            if (DEBUG) {
+              Serial.printf("CALLBACK: Controller disconnected from index=%d\n", i);
+            }
+            myControllers[i] = nullptr;
+            foundController = true;
+            break;
+        }
+    }
+
+    if (!foundController) {
+        Serial.println("CALLBACK: Controller disconnected, but not found in myControllers");
+    }
+
+    // start blinking LED again
+    setup_LEDinterval();
+}
+
+void processGamepad(ControllerPtr ctl) {
+    //---------------- Analog stick value events ---------------
+    
+    const int32_t axisX = ctl->axisX();
+    bool axisXMove = false;
+    if (axisX > fullzone) {
+      axisXMove = true;
+      Serial.printf("Moved the left stick X: %4d\n", axisX);
       mcp.digitalWrite(pivot0, HIGH);
       mcp.digitalWrite(pivot1, LOW);
-      delay(10);
-      Serial.print("Made to into Positive");
     }
-    if (LXValue < -115) {
+    if (axisX < -fullzone) {
+      axisXMove = true;
       mcp.digitalWrite(pivot0, LOW);
       mcp.digitalWrite(pivot1, HIGH);
-      delay(10);
-      Serial.print("Made to into negative");
     }
+    if (!axisXMove) {
+      mcp.digitalWrite(pivot0, LOW);
+      mcp.digitalWrite(pivot1, LOW);
+    }
+    
 
-    int LYValue = Ps3.data.analog.stick.ly;
-    if (LYValue > 115) {
+    const int32_t axisY = ctl->axisY();
+    bool axisYMove = false;
+    if (axisY > fullzone) {
+      axisYMove = true;
+      Serial.printf("Moved the left stick Y: %4d\n", axisY);
       mcp.digitalWrite(secondBoom0, HIGH);
       mcp.digitalWrite(secondBoom1, LOW);
-      delay(10);
     }
-    if (LYValue < -115) {
+    if (axisY < -fullzone) {
+      axisYMove = true;
       mcp.digitalWrite(secondBoom0, LOW);
       mcp.digitalWrite(secondBoom1, HIGH);
-      delay(10);
     }
-    if (LXValue > -30 && LXValue < 30) {
-      mcp.digitalWrite(pivot0, LOW);
-      mcp.digitalWrite(pivot1, LOW);
-    }
-    if (LYValue > -30 && LYValue < 30) {
+    if (!axisYMove) {
       mcp.digitalWrite(secondBoom0, LOW);
       mcp.digitalWrite(secondBoom1, LOW);
     }
-  }
-
-  if (abs(Ps3.event.analog_changed.stick.rx) + abs(Ps3.event.analog_changed.stick.ry) > 2) {
-    Serial.print("Moved the right stick:");
-    Serial.print(" x=");
-    Serial.print(Ps3.data.analog.stick.rx, DEC);
-    Serial.print(" y=");
-    Serial.print(Ps3.data.analog.stick.ry, DEC);
-    Serial.println();
-    int RXValue = (Ps3.data.analog.stick.rx);
-    if (RXValue > 115) {
+
+    const int32_t axisRX = ctl->axisRX();
+    bool axisRXmoved = false;
+    if (axisRX > fullzone) {
+      axisRXmoved = true;
       mcp.digitalWrite(tiltAttach0, HIGH);
       mcp.digitalWrite(tiltAttach1, LOW);
-      delay(10);
-      Serial.print("Made to into Positive");
     }
-    if (RXValue < -115) {
+    if (axisRX < -fullzone) {
+      axisRXmoved = true;
       mcp.digitalWrite(tiltAttach0, LOW);
       mcp.digitalWrite(tiltAttach1, HIGH);
-      delay(10);
-      Serial.print("Made to into negative");
+    }
+    if (!axisRXmoved) {
+      // Serial.printf("Dead right stick X: %4d \n", axisRX);
+      mcp.digitalWrite(tiltAttach0, LOW);
+      mcp.digitalWrite(tiltAttach1, LOW);
+    } else {
+      // Serial.printf("Moved the right stick X: %4d \n", axisRX);
     }
 
-    int RYValue = (Ps3.data.analog.stick.ry);
-    if (RYValue > 115) {
+    const int32_t axisRY = ctl->axisRY();
+    bool axisRYmoved = false;
+    if (axisRY > fullzone) {
+      axisRYmoved = true;
+      // Serial.printf("Moved the right stick Y: %4d \n", axisRY);
       mcp.digitalWrite(mainBoom0, HIGH);
       mcp.digitalWrite(mainBoom1, LOW);
-      delay(10);
     }
-    if (RYValue < -115) {
+    if (axisRY < -fullzone) {
+      axisRYmoved = true;
       mcp.digitalWrite(mainBoom0, LOW);
       mcp.digitalWrite(mainBoom1, HIGH);
-      delay(10);
-    }
-    if (RXValue > -30 && RXValue < 30) {
-      mcp.digitalWrite(tiltAttach0, LOW);
-      mcp.digitalWrite(tiltAttach1, LOW);
     }
-    if (RYValue > -30 && RYValue < 30) {
+    if (!axisRYmoved) {
       mcp.digitalWrite(mainBoom0, LOW);
       mcp.digitalWrite(mainBoom1, LOW);
     }
-  }
-  //------------- Digital shoulder button events -------------
-  if (Ps3.event.button_down.l1) {
-    mcp.digitalWrite(leftMotor0, HIGH);
-    mcp.digitalWrite(leftMotor1, LOW);
-    delay(10);
-    Serial.println("Started pressing the left shoulder button");
-  }
-  if (Ps3.event.button_up.l1) {
-    mcp.digitalWrite(leftMotor0, LOW);
-    mcp.digitalWrite(leftMotor1, LOW);
-    delay(10);
-    Serial.println("Released the left shoulder button");
-  }
-  if (Ps3.event.button_down.r1) {
-    mcp.digitalWrite(rightMotor0, HIGH);
-    mcp.digitalWrite(rightMotor1, LOW);
-    delay(10);
-    Serial.println("Started pressing the right shoulder button");
-  }
-  if (Ps3.event.button_up.r1) {
-    mcp.digitalWrite(rightMotor0, LOW);
-    mcp.digitalWrite(rightMotor1, LOW);
-    delay(10);
-    Serial.println("Released the right shoulder button");
-  }
-  //-------------- Digital trigger button events -------------
-  if (Ps3.event.button_down.l2) {
-    mcp.digitalWrite(leftMotor0, LOW);
-    mcp.digitalWrite(leftMotor1, HIGH);
-    delay(10);
-    Serial.println("Started pressing the left trigger button");
-  }
-  if (Ps3.event.button_up.l2) {
-    mcp.digitalWrite(leftMotor0, LOW);
-    mcp.digitalWrite(leftMotor1, LOW);
-    delay(10);
-    Serial.println("Released the left trigger button");
-  }
-  if (Ps3.event.button_down.r2) {
-    mcp.digitalWrite(rightMotor0, LOW);
-    mcp.digitalWrite(rightMotor1, HIGH);
-    delay(10);
-    Serial.println("Started pressing the right trigger button");
-  }
-  if (Ps3.event.button_up.r2) {
-    mcp.digitalWrite(rightMotor0, LOW);
-    mcp.digitalWrite(rightMotor1, LOW);
-    delay(10);
-    Serial.println("Released the right trigger button");
-  }
-  //--- Digital cross/square/triangle/circle button events ---
-  if (Ps3.event.button_down.cross) {
-    moveClawServoUp = true;
-    Serial.println("Started pressing the cross button");
-  }
-  if (Ps3.event.button_up.cross) {
-    moveClawServoUp = false;
-    Serial.println("Released the cross button");
-  }
-  if (Ps3.event.button_down.square) {
-    moveAuxServoUp = true;
-    Serial.println("Started pressing the square button");
-  }
-  if (Ps3.event.button_up.square) {
-    moveAuxServoUp = false;
-    Serial.println("Released the square button");
-  }
-  if (Ps3.event.button_down.triangle) {
-    moveClawServoDown = true;
-    Serial.println("Started pressing the triangle button");
-  }
-  if (Ps3.event.button_up.triangle) {
-    moveClawServoDown = false;
-  }
-
-  if (Ps3.event.button_down.circle) {
-    moveAuxServoDown = true;
-    Serial.println("Started pressing the circle button");
-  }
-  if (Ps3.event.button_up.circle) {
-    moveAuxServoDown = false;
-    Serial.println("Released the circle button");
-  }
-  //--------------- Digital stick button events --------------
-  if (Ps3.event.button_down.l3) {
-    if (!cabLightsOn) {
-      digitalWrite(cabLights, HIGH);
-      cabLightsOn = true;
+
+
+    // Dpad 
+    uint8_t dpad = ctl->dpad();
+
+    // dpad down
+    bool thumb_pressed = false;
+    if (dpad == 2) {
+      thumb_pressed = true;
+      // Serial.println("Started pressing dpad down");
+      mcp.digitalWrite(thumb0, LOW);
+      mcp.digitalWrite(thumb1, HIGH);
+    } 
+    // dpad up
+    if (dpad == 1) {
+      thumb_pressed = true;
+      // Serial.println("Started pressing dpad up");
+      mcp.digitalWrite(thumb0, HIGH);
+      mcp.digitalWrite(thumb1, LOW);
+    } 
+    if (!thumb_pressed) {// release dpad up
+      mcp.digitalWrite(thumb0, LOW);
+      mcp.digitalWrite(thumb1, LOW);
+      //Serial.println("Released dpad up");
+    }
+    
+    // dpad right
+    bool auxAttach_pressed = false;
+    if (dpad == 8) {
+      auxAttach_pressed = true;
+      mcp.digitalWrite(auxAttach0, HIGH);
+      mcp.digitalWrite(auxAttach1, LOW);
+      // Serial.println("Started pressing dpad right");
+    }
+    // dpad left
+    if (dpad == 4) {
+      auxAttach_pressed = true;
+      mcp.digitalWrite(auxAttach0, LOW);
+      mcp.digitalWrite(auxAttach1, HIGH);
+      // Serial.println("Started pressing the left button");
+    } 
+    if (!auxAttach_pressed) {
+      mcp.digitalWrite(auxAttach0, LOW);
+      mcp.digitalWrite(auxAttach1, LOW);
+      // Serial.println("Released dpad left");
+    }
+    
+    
+
+
+    //------------- Digital shoulder/trigger button events -------------
+    bool lpressed = false;
+    if (ctl->l1()) {
+      lpressed = true;
+      mcp.digitalWrite(leftMotor0, HIGH);
+      mcp.digitalWrite(leftMotor1, LOW);
+      // Serial.println("Started pressing the left shoulder button");
+    } 
+    if (ctl->l2()) {
+      lpressed = true;
+      mcp.digitalWrite(leftMotor0, LOW);
+      mcp.digitalWrite(leftMotor1, HIGH);
+      // Serial.println("Started pressing the left trigger button");
+    } 
+    if (!lpressed) {
+      mcp.digitalWrite(leftMotor0, LOW);
+      mcp.digitalWrite(leftMotor1, LOW);
+      // Serial.println("Released the left  button");
+    }
+    bool rpressed = false;
+    if (ctl->r1()) {
+      rpressed = true;
+      mcp.digitalWrite(rightMotor0, HIGH);
+      mcp.digitalWrite(rightMotor1, LOW);
+      // Serial.println("Started pressing the right shoulder button");
+    } if (ctl->r2()) {
+      rpressed = true;
+      mcp.digitalWrite(rightMotor0, LOW);
+      mcp.digitalWrite(rightMotor1, HIGH);
+      // Serial.println("Started pressing the right trigger button");
+    } 
+    if (!rpressed) {
+      mcp.digitalWrite(rightMotor0, LOW);
+      mcp.digitalWrite(rightMotor1, LOW);
+      // Serial.println("Released the right button");
+    }
+
+    //--- Digital cross/square/triangle/circle or a/x/y/b button events ---
+    if (ctl->a()) {
+      moveClawServoUp = true;
+      // Serial.println("Started pressing the a/cross button");
+    } else {
+      moveClawServoUp = false;
+      // Serial.println("Released the a/cross button");
+    }
+    if (ctl->x()) {
+      moveAuxServoUp = true;
+      // Serial.println("Started pressing the x/square button");
+    } else {
+      moveAuxServoUp = false;
+      // Serial.println("Released the x/square button");
+    }
+    if (ctl->y()) {
+      moveClawServoDown = true;
+      // Serial.println("Started pressing the y/triangle button");
     } else {
-      digitalWrite(cabLights, LOW);
-      cabLightsOn = false;
-    }
-    Serial.println("Started pressing the left stick button");
-  }
-  if (Ps3.event.button_up.l3)
-    Serial.println("Released the left stick button");
-
-  if (Ps3.event.button_down.r3) {
-    if (!auxLightsOn) {
-      digitalWrite(auxLights, HIGH);
-      auxLightsOn = true;
+      moveClawServoDown = false;
+      // Serial.println("Released the y/triangle button");
+    }
+
+    if (ctl->b()) {
+      moveAuxServoDown = true;
+      // Serial.println("Started pressing the b/circle button");
     } else {
-      digitalWrite(auxLights, LOW);
-      auxLightsOn = false;
-    }
-    Serial.println("Started pressing the right stick button");
-  }
-  if (Ps3.event.button_up.r3) {
-    Serial.println("Released the right stick button");
-  }
-  if (moveClawServoUp) {
-    if (servoDelay == 3) {
-      if (clawServoValue >= 10 && clawServoValue < 170) {
-        clawServoValue = clawServoValue + 1;
-        clawServo.write(clawServoValue);
+      moveAuxServoDown = false;
+      // Serial.println("Released the b/circle button");
+    }
+
+
+    //--------------- Digital stick button events --------------
+    if (ctl->thumbL()) {
+      if (!cabLightsOn) {
+        digitalWrite(cabLights, HIGH);
+        cabLightsOn = true;
+      } else {
+        digitalWrite(cabLights, LOW);
+        cabLightsOn = false;
       }
-      servoDelay = 0;
-    }
-    servoDelay++;
-  }
-  if (moveClawServoDown) {
-    if (servoDelay == 3) {
-      if (clawServoValue <= 170 && clawServoValue > 10) {
-        clawServoValue = clawServoValue - 1;
-        clawServo.write(clawServoValue);
+      // Serial.println("Started pressing the left stick button");
+    } else {
+      // Serial.println("Released the left stick button");
+    }
+      
+    if (ctl->thumbR()) {
+      if (!auxLightsOn) {
+        digitalWrite(auxLights, HIGH);
+        auxLightsOn = true;
+      } else {
+        digitalWrite(auxLights, LOW);
+        auxLightsOn = false;
       }
-      servoDelay = 0;
-    }
-    servoDelay++;
-  }
-  if (moveAuxServoUp) {
-    if (servoDelay == 3) {
-      if (auxServoValue >= 10 && auxServoValue < 170) {
-        auxServoValue = auxServoValue + 1;
-        auxServo.write(auxServoValue);
+      // Serial.println("Started pressing the right stick button");
+    } else {
+      // Serial.println("Released the right stick button");
+    }
+
+
+    // servo control
+    if (moveClawServoUp) {
+      if (servoDelay == 3) {
+        if (clawServoValue >= 10 && clawServoValue < 170) {
+          clawServoValue = clawServoValue + 1;
+          clawServo.write(clawServoValue);
+        }
+        servoDelay = 0;
+      }
+      servoDelay++;
+    }
+    if (moveClawServoDown) {
+      if (servoDelay == 3) {
+        if (clawServoValue <= 170 && clawServoValue > 10) {
+          clawServoValue = clawServoValue - 1;
+          clawServo.write(clawServoValue);
+        }
+        servoDelay = 0;
+      }
+      servoDelay++;
+    }
+    if (moveAuxServoUp) {
+      if (servoDelay == 3) {
+        if (auxServoValue >= 10 && auxServoValue < 170) {
+          auxServoValue = auxServoValue + 1;
+          auxServo.write(auxServoValue);
+        }
+        servoDelay = 0;
       }
-      servoDelay = 0;
-    }
-    servoDelay++;
-  }
-  if (moveAuxServoDown) {
-    if (servoDelay == 3) {
-      if (auxServoValue <= 170 && auxServoValue > 10) {
-        auxServoValue = auxServoValue - 1;
-        auxServo.write(auxServoValue);
+      servoDelay++;
+    }
+    if (moveAuxServoDown) {
+      if (servoDelay == 3) {
+        if (auxServoValue <= 170 && auxServoValue > 10) {
+          auxServoValue = auxServoValue - 1;
+          auxServo.write(auxServoValue);
+        }
+        servoDelay = 0;
       }
-      servoDelay = 0;
+      servoDelay++;
     }
-    servoDelay++;
-  }
 }
 
-void onConnect() {
-  Serial.println("Connected.");
+void processControllers() {
+    for (auto myController : myControllers) {
+        if (myController && myController->isConnected() && myController->hasData()) {
+            if (myController->isGamepad()) {
+                processGamepad(myController);
+            //} else if (myController->isMouse()) {
+              //  processMouse(myController);
+            //} else if (myController->isKeyboard()) {
+              //  processKeyboard(myController);
+            //} else if (myController->isBalanceBoard()) {
+              //  processBalanceBoard(myController);
+            } else {
+                Serial.println("Unsupported controller");
+            }
+        }
+    }
 }
 
+
+
+// Arduino setup function. Runs in CPU 1
 void setup() {
+    Serial.begin(115200);
 
-  Serial.begin(115200);
+    // mini excavator setup
 
-  mcp.begin_I2C();
-  //   put your setup code here, to run once:
+    mcp.begin_I2C();
 
+    for (int i = 0; i <= 15; i++) {
+      mcp.pinMode(i, OUTPUT);
+    }
 
-  for (int i = 0; i <= 15; i++) {
-    mcp.pinMode(i, OUTPUT);
-  }
+    Serial.println("mcp Ready.");
 
-  Ps3.attach(notify);
-  Ps3.attachOnConnect(onConnect);
-  Ps3.begin("a0:5a:5a:a0:0f:91");
+    pinMode(clawServoPin, OUTPUT);
+    pinMode(auxServoPin, OUTPUT);
 
-  Serial.println("Ready.");
+    pinMode(cabLights, OUTPUT);
+    pinMode(auxLights, OUTPUT);
 
-  pinMode(clawServoPin, OUTPUT);
-  pinMode(auxServoPin, OUTPUT);
+    clawServo.attach(clawServoPin);
+    auxServo.attach(auxServoPin);
+    clawServo.write(clawServoValue);
+    auxServo.write(auxServoValue);
 
-  pinMode(cabLights, OUTPUT);
-  pinMode(auxLights, OUTPUT);
+    Serial.println("Servos Ready.");
+    
+    Serial.printf("Firmware: %s\n", BP32.firmwareVersion());
+    const uint8_t* addr = BP32.localBdAddress();
+    Serial.printf("BD Addr: %2X:%2X:%2X:%2X:%2X:%2X\n", addr[0], addr[1], addr[2], addr[3], addr[4], addr[5]);
 
-  clawServo.attach(clawServoPin);
-  auxServo.attach(auxServoPin);
-  clawServo.write(clawServoValue);
-  auxServo.write(auxServoValue);
-}
+    // Setup the Bluepad32 callbacks
+    BP32.setup(&onConnectedController, &onDisconnectedController);
 
+    // "forgetBluetoothKeys()" should be called when the user performs
+    // a "device factory reset", or similar.
+    // Calling "forgetBluetoothKeys" in setup() just as an example.
+    // Forgetting Bluetooth keys prevents "paired" gamepads to reconnect.
+    // But it might also fix some connection / re-connection issues.
+    // BP32.forgetBluetoothKeys();
 
+    // Enables mouse / touchpad support for gamepads that support them.
+    // When enabled, controllers like DualSense and DualShock4 generate two connected devices:
+    // - First one: the gamepad
+    // - Second one, which is a "virtual device", is a mouse.
+    // By default, it is disabled.
+    // BP32.enableVirtualDevice(false);
 
+    // blink LED until connected
+    pinMode(LED_BUILTIN, OUTPUT);
+    digitalWrite(LED_BUILTIN, HIGH);
+    setup_LEDinterval();
+    
+}
+
+// Arduino loop function. Runs in CPU 1.
 void loop() {
-  if (!Ps3.isConnected())
-    return;
-  delay(500);
+    // This call fetches all the controllers' data.
+    // Call this function in your main loop.
+    bool dataUpdated = BP32.update();
+    if (dataUpdated)
+        processControllers();
+
+    // The main loop must have some kind of "yield to lower priority task" event.
+    // Otherwise, the watchdog will get triggered.
+    // If your main loop doesn't have one, just add a simple `vTaskDelay(1)`.
+    // Detailed info here:
+    // https://stackoverflow.com/questions/66278271/task-watchdog-got-triggered-the-tasks-did-not-reset-the-watchdog-in-time
+
+    vTaskDelay(1);
+
+    // forget bluetooth keys if boot button is pressed
+    if (!digitalRead(BOOT_BUTTON)) {
+      BP32.forgetBluetoothKeys();
+      delay(500);
+    }
+    // delay(150);
+
+    asynctimer.handle();
 }