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Access to Sony Playstation SixAxis controller using C ++ on Linux

I am coding in C ++ on Linux (specifically for Ubuntu 12.04) and would like to use the PlayStation SixAxis controller (the type that comes with the PS3) as an input device, ideally over Bluetooth.

My application will work without heads. There is no window manager on the target platform. The goal is a small robot that works with Ubuntu Server 12.04, although I am developing on the desktop.

Are there any libraries or methods for this that I could use?

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My current solution involves using this ppa on ubuntu 12.04

sudo apt-add-repository ppa:falk-t-j/qtsixa
sudo apt-get update
sudo apt-get install sixad -y
# plug controller into machine (via wire)
sudo sixpair
# unplug controller
sixad --start
# hold PS button

++, . !

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, : http://www.pabr.org/sixlinux/sixlinux.en.html HID- ++ HID api.

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