diff --git a/Main/Main.ino b/Main/Main.ino
index b4dd646..f7c10e5 100644
--- a/Main/Main.ino
+++ b/Main/Main.ino
@@ -2,7 +2,8 @@
 #include <GY_85.h>
 #include <Wire.h>
 #include <MatrixMath.h>
-
+#include <Math.h>
+#include <Ps3Controller.h>
 
 //Declare library objects
 GY_85         IMU;
@@ -39,6 +40,8 @@ long int        m2Raw, m2RawLast;
 volatile bool   M1_A_state, M1_B_state;
 volatile bool   M2_A_state, M2_B_state;
 
+//PS3 Controller variables
+const char* _ps3Address = "18:5e:0f:92:00:6c";
 
 void setup() {
   //Initialize serial
@@ -78,8 +81,8 @@ void setup() {
   //Initialize differential drive inverse kinematics
   initMotors();
 
-  // Initialize Remote control
-  initRemote();
+  //Initialize PS3 controller connection
+  Ps3.begin(_ps3Address);
 
 }
 
diff --git a/Main/interruptRemote.ino b/Main/interruptRemote.ino
deleted file mode 100644
index 0dbfb08..0000000
--- a/Main/interruptRemote.ino
+++ /dev/null
@@ -1,36 +0,0 @@
-//Variables
-const     byte          NO_CHANNELS       = 2;
-const     byte          CHANNEL_PINS[]    = {12, 14};
-volatile  unsigned int  interruptTime_ch1, interruptTimeLast_ch1;
-volatile  unsigned int  interruptTime_ch2, interruptTimeLast_ch2;
-volatile  unsigned int  pwm_time_ch1, pwm_time_ch2;
-
-
-void ch1_interrupt() {
-  interruptTime_ch1 = micros();
-  if (interruptTime_ch1 >interruptTimeLast_ch1 && (interruptTime_ch1 - interruptTimeLast_ch1)< 2100){
-      pwm_time_ch1 = interruptTime_ch1 - interruptTimeLast_ch1;
-  }
-
-  interruptTimeLast_ch1 = interruptTime_ch1;
-}
-
-
-void ch2_interrupt() {
-  interruptTime_ch2 = micros();
-  if (interruptTime_ch2 > interruptTimeLast_ch2 && (interruptTime_ch2 - interruptTimeLast_ch2)< 2100 ){
-      pwm_time_ch2 = interruptTime_ch2 - interruptTimeLast_ch2;
-  }
-  interruptTimeLast_ch2 = interruptTime_ch2;
-}
-
-
-void initRemote(){
-  //Ch1
-  pinMode(CHANNEL_PINS[0], INPUT_PULLUP);
-  attachInterrupt(digitalPinToInterrupt(CHANNEL_PINS[0]), ch1_interrupt, CHANGE);
-
-  //Ch2
-  pinMode(CHANNEL_PINS[1], INPUT);
-  attachInterrupt(digitalPinToInterrupt(CHANNEL_PINS[1]), ch2_interrupt, CHANGE);
-}
diff --git a/Main/motorControl.ino b/Main/motorControl.ino
index e753074..c958aa8 100644
--- a/Main/motorControl.ino
+++ b/Main/motorControl.ino
@@ -56,17 +56,9 @@ void motors() {
   //Calculate robot linear and angular velocity
   Matrix.Multiply((mtx_type*)inv_Kin, (mtx_type*)motor_ang_vel, 2, 2, 1, (mtx_type*)vel_Matrix);
 
-
-  // Remote control commands
-  if (pwm_time_ch1 == 0 && pwm_time_ch2 == 0){
-    rem_turn_speed_ref  = 0;
-    rem_speed_ref       = 0;
-  }
-  else{
-    rem_turn_speed_ref  = floatMap(pwm_time_ch1, 992.0, 2015.0, -3.75, 3.75);
-    rem_speed_ref       = floatMap(pwm_time_ch2, 982.0, 2005.0, -0.35, 0.35);
-  }
-
+  //Get Control Commands
+  rem_turn_speed_ref    = floatMap(Ps3.data.analog.stick.ly, -128.0, 127.0, -3.75, 3.75);
+  rem_speed_ref         = floatMap(Ps3.data.analog.stick.ry, -128.0, 127.0, -0.35, 0.35);
 
   // Speed Controller
   SC_cont_out           = PController(rem_speed_ref, vel_Matrix[0][0], K_SC);
diff --git a/Main/plot.ino b/Main/plot.ino
index c0ea6b0..96b5ce0 100644
--- a/Main/plot.ino
+++ b/Main/plot.ino
@@ -72,4 +72,19 @@ void plot(){
    // Serial.print(" ");
    // Serial.print("botAngVel:");
    // Serial.println(vel_Matrix[1][0]);
+
+  //    //PS3 Controller
+  // if (Ps3.isConnected()) {
+  //   Serial.print("lx:");
+  //   Serial.print(Ps3.data.analog.stick.lx);
+  //   Serial.print(",");
+  //   Serial.print("ly:");
+  //   Serial.print(Ps3.data.analog.stick.ly);
+  //   Serial.print(",");
+  //   Serial.print("rx:");
+  //   Serial.print(Ps3.data.analog.stick.rx);
+  //   Serial.print(",");
+  //   Serial.print("ry:");
+  //   Serial.println(Ps3.data.analog.stick.ry);
+  // }
 }