All suggestions are needed. Esp32 Psx or DS4 emulation

So i'm trying to make a hexapod using kurt/Phoenix hexapod using a pololu maestro and an esp32
i'm trying to change it a bit but not that versed in modding other peoples projects..although i did mod it to use a ps4 controller. But that wasn't difficult.

So heres the general idea. If i can at least find the lynxmotion Powerpod or psx instruction set i can just pipe that through serial from node red.
Capto_Capture 2021-05-27_11-05-33_AM

If anyone has a better way to do it that would be great.
All suggestions are needed.