[ShaneP]

Ultimately this comes down to driver preference. I've seen very good drivers who have used single stick, and very good drivers who have used two sticks.

While I won't comment on which is easier to program, my recommendation is two stick drive because for many people it allows a greater precision and control. There isn't anything a two stick drive can do that a single stick can't (in arcade mode) - but for many, having a two stick control scheme that seperates left drive from right drive is more intuitive. It's like you're grabbing the right and left side of the robot and moving them yourself. With a single stick, it requires a slightly more abstract joystick motion to acheive the same effect.

Single stick leaves you with a free hand which can be used for other simple fuctions (e.g. shifting or shooting or... etc.). Two stick is not as convient in this regard, depending on how you hold the joysticks, but IMO, the loss here isn't enough to recommend single stick.