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I have this idea to make wireless vr controller with 9-axis and location trackings like vive etc.

esp32 (android compatible + built in bluetooth) and 9 axis sensor.

webcam to track led in controller.

So I'm just wonderin how to use freepie? Or is this setup already done?

I have lot of experience with microcontrollers but interfacing this setup with drivers etc is bit confusing.

I'm asking for resources to read and documentation. Tutorials are much apreciated!

It pretty much depends on how you are going to use those inputs. I have not looked into for some time, but getting inputs into VR applications is not straightforward (with the exception of location data in VRidge, which is pretty easy to do).