Keyestudio 4DOF Manual page 217

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Project 5: PS2 Controlled Robot Arm (Extension)
1) PS2 Joypad Key Test
Description:
On the drive shield there is a PS2 Joystick connector, which is easy for you to control the 4DOF robot arm using the
PS2 Joypad. But you need to purchase it by yourself because the PS2 Joypad is not included in the kit.
When use the PS2 Joypad to control the robot arm, first need to get the corresponding character of each key on
the PS2 Joypad.
So this experiment will help you test the character of each key on the PS2 Joypad.
After connecting the Joypad, should upload the test program on Arduino IDE. But before testing, should place the
PS2X_lib folder inside the libraries folder of Arduino IDE directory.
Uploading the code, open the serial monitor, connect the PS2 Joypad. When press down the key, you should see
the corresponding character on the monitor.