Nintendo DS as Robot Controller

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I'm trying to get into more advanced embedded programming and moving away from using Raspberry pis and arduinos as controllers. Recently I saw this video (https://www.youtube.com/watch?v=xJlW_QILKII) using a Nintendo DS as a controller for a robot and I was wondering how I could program a Nintendo DS to output signals to servos like in the video.

I tried looking up answers online and looking at the devkitpro documentation, but I couldn't find any concrete answers online.



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