Need help

[Tjupi]

im trying to use this code, and im struggeling alot, i wanna use this code for a PS2 controller and Arduino Uno, i can upload the code etc, but where do i put servors/trusters pins? isent there are complete code out there, whit pin numbers, is this code even complete?
i only need a code for 3 truster and 2 joystick, and a button for light, i gonna build a ROV, but the code aint that easy to get..need help whit this please...