How to program a Ps3 controller (or the arduino esplora)?

Hey,

as you already read in the title, i'd like to know how i can program a Ps3 controller or the arduino esplora to control dc- and servomotors. I dont find any real starting point to learn how to program a wireless controller except the libraries for the ps3 controller in the arduino IDE.
I have added a schematic so that you can see how i imagined this.
But now i'd like to know how i can control many different servos and dc motors at the same time and assign analog sticks and buttons to the different motors.
I am still new to coding, so please forgive me if it sounds like a stupid question.
So, if any of you already had some experience with this kind of task and are willing to help me out, i would be thankful if you'd share some ideas/suggestions and code with me.