If you already have a Basic Atom 28 and a BotBoard II, you do not need any software. You can write your own program for the Basic Atom that moves the 5 servos while utilizing the PS2 Controller.
If you already have code that works and would like to modify it to suit your needs you could try posting it here and seeing if anyone could give you some pointers on how to do that.
If you have no programming experience at all then there are many online resources that you can take advantage of in order to learn how to program your Basic Atom Pro 28.
All, at no cost to you whatsoever