[NeedMoreEngines]

The choice is completely up to you. See how your driver feels about it, but there are some things that you might want to stay away from. For mobility, you can't beat two joysticks. For ease of use, one stick is pretty good, but your programming team might have a little trouble. Do not use the buttons on the joysticks for controlling major devices. Your driver will have enough trouble controlling the robot under pressure that the last thing he wants to do is accidentally hit a wrong button.
As for an arm, the choice is also yours. I don't know about using a joystick though. You can use buttons, switches, wheels, anything. Or...if you have the money and engineering brilliance, you can rig up a potentiometer. Ask someone about that.
For a controller board setup, the choice is again your. I think it has to be a specific dimension, but you can do whatever you want. Paint it, sticker it, etch it. If you use two joysticks, be sure to make them at a distance apart that the driver is comfortable with.

Always glad to help.
Mike F, team 1279