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Step 1: Start big picture mode and select the gear icon, top right, middle button.
Step 2: Scroll down to controller settings and make sure that Xbox 360 configuration support is ticked. Once that's checked go to your game library, find Bad Company 2 and scroll down to manage game, then controller options. In the top box select global settings (Xbox).
Step 3: Select controller configuration and press X to browse some of the community configs e.g. Bad Company 2 player controls for Xbox pads. Press X to apply and then B when you’re done.
Now you can launch the game and the controller should work, however you may want to adjust some of the settings to your own preferences.
Hope this helps.
Steam/BigPicture warned me that the game was not developed with the Xbox360 controller on first instance, so Steam itself loaded a configuration for me (also saying I could change it anytime).
However, that configuration is Steam-based, not "game-based", meaning that the Setting screen in game does not display any button in the "controller" column.
Now, the controls are weird: for example, if I press any d-pad button (whose function is to swap weapons) I also turn around. Definitely not the best way to play! XD