PS3 robot guidance

I need help with creating a sketch to drive a robot using a bluetooth PS3 controller. I am using an Arduino Uno, an Arduino USB host shield, and the Servo Shield for Arduino kit - v1.2. I have a bluetooth dongle to go on the USB host shield on the Arduino in order to connect the controller. The Arduino will drive 4 Vex motors. This is my first time creating a new sketch and any help would be appreciated ^-^

What I'm using:

Did you get any progress and if you did can you share how you did it?