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Unfortunately, there isn't a good way to do it right now.
There is a manual way (i.e. there is no autolearn feature) to do so in Configuration-Settings, MIDI Controllers tab.
In this tab, you can specify up to 16 controls, and tell Psycle what do you want the controller to do.
It is a very basic setup, and usually it isn't flexible enough, because generally you would like to do different things on different machines, and this doesn't allow it.
Usually, we recommend to simply use the "Record Raw MIDI as mcm", which, at least, sends the MIDI messages directly to the machine.
Since most VST machines support common controls, this sort of works by default.
It has been on the todo list to reimplement this completely, but as of now, it works this way.
Some users use specific maps on their own controllers (i.e. controllers tend to allow to load maps specific for programs) and if there's a program to generate one such map for your controller, you could adapt it for the multiple uses that you would need.
Btw, the values for the MIDI controller tab are the "CC" (control codes) for them.
If you don't have a reference for your controller, you can know them allowing it to write to the pattern editor and see which value is writing into the first part of the command column, i.e.:
mcm B0 01 AABB <- the AA pair.
Note that some controls, like the pitch bend, are not control commands, but midi messages by themselves.
<[JAZ]> Pa pi pa pa pa pi pa.... ;·D