I assume that you are planning on removing the rio and just using the 9x controls manually?
All of the motor controllers and servos will work via the PWM outputs of the Turnigy RX module. For your main drive, just use a PWM spliter. You can use elevator and throttle (Y axis on both sticks) to control your drive motors. This makes using rudder and aileron (the x axis) for other functions tricky though. Something you can do to get around that is to setup differential steering in the radio mixes. I did this with one of our engineering bots early in the year, and it worked really well. Here's a video on how to do it:
https://www.youtube.com/watch?v=YNx9DHySD9A
That should get you a driving robot, and the other stick free for your mechanisms. There is a pretty big community around the 9x transmitter, and subsequently a lot of modifications you can make to it to improve it immensely. These are mostly for people flying aircraft, but some of it may be applicable if you google around.