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I followed the directions here:
https://github.com/retropie/RetroPie-Setup/wiki/Setting-up-a-PS3-controller

They do require you to initially connect with a usb cable, but once it’s synced, it will connect wirelessly and remember the connection after reboot (when you press the PS button on the controller it will connect).

The connection for me wasn’t an issue – that worked fine – what has been an issue is configuring. The retroarch config goes waaaaay to fast (a single button press will register as 3) and emulation station doesn’t want to register the controller correctly either. =(

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