To run:

1. Plug in a DualShock4 Playstation Controller and plug to USB.
2. Have two instances of the terminal of your choice open.
3. Run receiver.py. This is the "host" of the server and will be "listening" after it's run indefinitely. Unfortunately it doesn't quit gracefuly unless interupprted externally either by closing the terminal or occasionally a ctrl+C
4. Run ds4_values.py. This will open a pygame window which will be a black 400x400 screen. You have click on this window for the DS4 values to be registered to the program.
5. Play around with the DS4 buttons and analogue sticks/triggers. a) The terminal instance running ds4_values.py will be printing out debugging info but will send the correct format to the reciever file. b) the terminal instance running receiver.py will be printing out the PWM values for either rover movement or arm movement commands in the correct format
6. if nothing works :( maybe watch demo: https://youtu.be/7xPfzri2iR4