This circuit board can control servos and digital outputs with a PS4 controller over USB and Bluetooth.  Also works with a gaming joystick and several 3D mice.  No programming is required, it comes pre-programmed and it has most of the servo adjustments you'd ever need to make already built in.  You can hold  the "PS" and "Share" buttons for 3 seconds to enter a configuration mode, and cycle through the output channels and make adjustments using the controller buttons.

Servo Adjustments include:

• Trim
• Sensitivity
• Travel direction
• Travel limits
• Deadband
• Center calibration
• Incremental Mode (servo moves incrementally in the direction you push the stick)

Button Adjustments include:

• Toggle
• Autofire (pulse with and frequency adjustable)
• Single pulse (pulse width adjustable)
• Toggled autofire
• Output inversion

It takes 5-16V, and has an on-board 5V regulator than can be used to power the servos, or you can bypass it to power the servos directly from the power supply if you need more power.