[Kevin Sevcik]

Firstly, encoders go to digital inputs, 2 for each encoder. Secondly, if you had 1 less servo, I think you could just use a Vex controller, provided you had a good way to interface the TCS. It looks like some of your servos could be paired up with a Y-cable. For instance, the two lifting that bar up and down will always need to turn the same amount in the same direction, so no reason they can't be run through a Y-cable. So really, I'd recommend a Vex controller, as it's more affordable than a full scale RC, which might be overkill for your application. Plus it can run in autonomous mode with no OI connected to it.

Lastly, you still have other options available to you for color sensing. Just googling color sensor came up with one other good option. And a CMUCam would work for color sensing as well.