our mentor found this on line and modified it to control our robot. It works reasonably well and can drive our robot easily with the two joysticks. The only problem with this design is that when both thumbs are on the joysticks it becomes reasonably hard to use the other buttons at the same time (ie. trying to raise an arm while driving the bot). We may bring this to the regionals this year if we work all of the kinks out.
link to the controller
http://www.compgeeks.com/details.asp?invtid=FSDAGP-TR
who thinks we should hack a ddr max game "controller" to drive the robot!