Controller help with the HERO?

[AlexNeedsAName]

Our team recently bought a couple CTR HEROs, and we've been working on programing them. However, I haven't been able to successfully connect a PS4 controller in code. I'm connecting to the USB-A port on the HERO; I've tried starting the code with the controller plugged in, out, and cycling while its on.

Here is the code:


Do I need a different controller? Is my code wrong? Also, if the PS4 controller is compatible, is there any way to use it wirelessly with a bluetooth dongle or something?

Any help is greatly appreciated, thanks!