Arduino mit einem XBox 360 Controller steuern

Ich möchte meine Roboter (Arduino Uno, Pololu Dual Motor Driver Shield VNH5019) mit einem kablegebundenem XBox 360 Controller steuern.
Mein Arduino Code:

Code:

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#include <DualVNH5019MotorShield.h>
#include <SoftwareSerial.h>

char val;
int x = 150;
int c = -150;
int i = 350;
int o = -350;
int p = 0;
int n = 250;
int m = -250;

DualVNH5019MotorShield md;

void setup()
{
  md.init();
  Serial.begin(115200); 

}

void loop()
{
  {
    if (Serial.available())
    {
      val = Serial.read();
      Serial.print(val);
    }
    else if (Serial.available())
    {
      val = Serial.read();
      Serial.print(val);
    }
  }
  // anfang motor steuerung  50%
    if (val == 'W') {
    md.setM1Speed(x);
    md.setM2Speed(x);   
 }

 if (val == '0') {
    md.setM1Speed(p);
    md.setM2Speed(p);
 }

    if (val == 'S') {
    md.setM1Speed(c);
    md.setM2Speed(c);   
 }
      if (val == 'A') {
    md.setM1Speed(x);
    md.setM2Speed(c);   
 }
      if (val == 'D') {
    md.setM1Speed(c);
    md.setM2Speed(x);   
 }
}

---

Mein Processing Code:

Code:

---

import processing.serial.*;

Serial port;
int val;

color currentcolor;
RectButton rect1, rect2, rect3, rect4, rect5;
boolean locked = false;

void setup() {

  size(600, 600);
  color baseColor = color(102, 102, 102);
  currentcolor = baseColor;
 
  port = new Serial(this, "/dev/ttyACM0", 115200);

  // Define and create rectangle button #1
  int x = 150;
  int y = 250;
  int size = 80;
  color buttoncolor = color(153, 153, 153);
  color highlight = color(102, 102, 102);
  rect1 = new RectButton(x, y, size, buttoncolor, highlight);

  // Define and create rectangle button #2
  x = 250;
  y = 250;
  size = 80;
  buttoncolor = color(153, 102, 102);
  highlight = color(102, 102, 102);
  rect2 = new RectButton(x, y, size, buttoncolor, highlight);
 
    // Define and create rectangle button #3
  x = 250;
  y = 350;
  size = 80;
  buttoncolor = color(153, 153, 153);
  highlight = color(102, 102, 102);
  rect3 = new RectButton(x, y, size, buttoncolor, highlight);
 
    // Define and create rectangle button #4
  x = 250;
  y = 150;
  size = 80;
  buttoncolor = color(153, 153, 153);
  highlight = color(102, 102, 102);
  rect4 = new RectButton(x, y, size, buttoncolor, highlight);
 
    // Define and create rectangle button #5
  x = 350;
  y = 250;
  size = 80;
  buttoncolor = color(153, 153, 153);

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Mein Ziel ist es, die Geschwindigkeit der Motoren möglichst genau mit dem XBox Controller zu steuern.

Danke für jede Hilfe
TCHD