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Don't even worry about mapping- the default controls are the same as the legacy controls on the PS3 version of the game.
It'll detect it automatically.
OR! Go to eBay and buy the wireless adapter with a xbox controller. BEST WAY!
When you are using motionjoy and you use the xbox emulator you have to set l1 and r1 to left and right trigger on xbox and delete the marks a bit down. This way it shall work.
I had trouble looking for any help for the longest time. I finally decided to go with Joystick Mapper. Glad I did. Go to the menu and under File-Load Examles!!! It took some time configuring and I think the buttons are mislabeled. either Gamepad Companion or JM have it wrong any way. Here is a link to my set-up. I tried emulating the regular PS3 settings for B2. Not perfect but playable. I took a screenshot and overlapped the two Button 15 at the bottom so you can see the whole setup. Sorry kind of sloppy. https://www.dropbox.com/lightbox/home/Public/Borderlands%202%20Key%20Bindings
You people with the "Buy an XBox Controller" yapping are total ♥♥♥♥♥♥♥♥. Whether or not you like that controller better, it has nothing to do with getting the OP's question answered. You're just clogging up forums with your useless fanboyism.