Here there is a youtube video recording of the controller in action:
https://www.youtube.com/watch?v=bH6x3b0McRo
The code can be found here: https://gist.github.com/rzilleruelo/f44252e77036403af4c6a3e85e990c3d
The code can be found here: https://gist.github.com/rzilleruelo/f44252e77036403af4c6a3e85e990c3d