smars quad with ps4 controller.py

from smars_library.smars_library import SmarsRobot
from pyPS4Controller.controller import Controller
import smars_library.smars_library as sl
SMARS = SmarsRobot()
# SMARS.invert_feet()
DRIVER = sl.DO_NOT_USE_PCA_DRIVER

class MyController(Controller):

    def __init__(self, **kwargs):
        Controller.__init__(self, **kwargs)

    def on_up_arrow_press(self):
        SMARS.walkforward(steps=10)

    def on_down_arrow_press(self):
        SMARS.walkbackward(steps=10)

    def on_left_arrow_press(self):
        SMARS.turnleft()

    def on_right_arrow_press(self):
        SMARS.turnright()

    def on_L1_press(self):
        SMARS.stand()
    def on_R1_press(self):
        SMARS.sit()
    def on_square_press(self):
        SMARS.wiggle(1)
    def on_circle_press(self):
        SMARS.clap(1)
    def on_x_press(self):
        SMARS.default()


controller = MyController(interface="/dev/input/js0", connecting_using_ds4drv=False)
# you can start listening before controller is paired, as long as you pair it within the timeout window
controller.listen(timeout=60)