Adaptive Optics Lucky Imager (AOLI) is a state-of-the-art instrument that combines adaptive optics (AO) and lucky imaging (LI) with the objective of obtaining diffraction-limited images in visible wavelength at mid- and big-size ground-based telescopes. The key innovation of AOLI is the development and use of the new Two Pupil Plane Positions Wavefront Sensor (TP3-WFS). The TP3-WFS, working in visible band, represents an advance over classical wavefront sensors such as the Shack-Hartmann WFS because it can theoretically use fainter natural reference stars, which would ultimately provide better sky coverages to AO instruments using this newer sensor. This paper describes the software, algorithms and procedures that enabled AOLI to become the first astronomical instrument performing real-time AO corrections in a telescope with this new type of WFS, including the first control-related results at the William Herschel Telescope.