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Here's a tutorial that should get you to the know how:
https://www.howtogeek.com/234427/how-to-remap-buttons-on-your-steam-controller/
I also uploaded an unfinished one for the controller itself and don't know how to find/delete it, so there's two out there by me and only one of them is worth using.
Anyway, just in case you can't find my working Genesis configs, here's how I set up my controller buttons in Steam and how I did my game-specific mapping for Sonic CD:
---------------------------------------------------
Steam controller profile (general)
Xbox Button -> Genesis/Saturn Button
---------------------------------------------------
Left Stick -> D-Pad
A -> A
B -> B
X -> X
Y -> Y
LB -> Z
RB -> C
LT -> L
RT -> R
Start -> Start
Back -> Mode
------------------------------------------------------------------------------------------------
Sonic CD Profile
("Xbox" button assignments to go with the Genesis/Saturn layout above)
"Xbox" button -> Function
------------------------------------------------------------------------------------------------
Left Stick -> Left Stick
A -> A
B -> B
X -> 'auto' Spindash (see below)
Y -> 'auto' Super peelout (see below)
LB -> A (This is your Genesis/Saturn Z button)
RB -> A (This is your Genesis/Saturn C button)
LT -> LT (does nothing in game)
RT -> RT (does nothing in game)
Start -> Start
Back -> Back (does nothing in game)
The 'auto' spindash/peelout function buttons are made by setting activators on the buttons so that pressing the button accomplishes a 'down + A' or 'up + A' press to do a spindash or peelout. Set up the activators as follows:
1. Set the first activator as a 'regular press' and assign it to d-pad down for Spindash or up for peelout. set 'interruptable' to "off"
2. Add a second activator as a 'long press'. Set the mapping to the A button, and lower the 'long press time' to close to zero. The idea is to ensure that the A button press comes after the directional press. The 'long press time' slider determines how long to wait after pressing the d-pad up/down direction before pressing "A".
For the spinsash, you can also add a 'hold to repeat (turbo) press to it if you want.
Hope this helps!