Bluetooth support for PS3 sixaxis controller on Raspberry Pi 32 bit

I have looked around trying to get my clone PS3 controller to connect with the Pi Zero W through Bluetooth, but the Pi always refuses it due to authentication error. It seems either the bluez-plugins and bluez-utils packages like in Arch Linux, or the Sixad package in RetroPie can pair the controller effortlessly. Is there an easy way to get these packages onto DietPi (maybe I should ask a Debian Buster forum?), or do we have a different package that serves that exact purpose?