clearly, a dance dance revolution pad is the way to go as to how to control the robot. just kidding
I don't think FIRST would approve...
seriously though, when I was the base driver last year, our team experimented with both the one stick and the two stick drive.
I prefer the two stick drive because it allows for versatility and it is easy to make small adjustments. Also, the two stick system allows me to rotate on a dime and on the fly. It is easy to maneuver.