The Playstation 3 Sixaxis is a USB and wireless gamepad that can also be used on PCs with appropriate drivers: MotioninJoy on Windows, various approaches on Linux, and now btsixad on FreeBSD.
The driver translates wireless input from the gamepad into events on an emulated USB HID device, allowing it to work like an ordinary USB joystick in SDL and other programs.
Shopping list:
the gamepad in a suitable colour
USB mini-B cable for pairing and charging
Bluetooth dongle (ASUS USB-BT400 works)
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To install, run
make make install
Or use the port.
See the man page for further instructions.