Monaco supports Xbox 360 controllers.
To emulate an Xbox 360 controller using another gamepad, use x360ce (32-bit):
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Place the executable in the game directory.
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Run it to create the necessary files.
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Hit "Auto" to assign buttons automatically.
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Close the program; once the config file has been created, it is no longer needed.
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In the options, set the Keyboard player to 2 (for a 2-player game).
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Restart the game for the setting to take effect.
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Select "Play" from the main menu.
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Press "Start" on the controller, or "Space" on the keyboard, to enter Offline Mode.
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Select a level, and from the lobby, press Start / Space again to join.