Balancing FPV Bot

I'm working on a 3D printable frame for a Balancing Robot.
Also i am going to add FPV to it, just because we can ! :D
This still is a work in progress.
Rims are done. ( 5mm dia. shaft with flattened side )
Put a piece of inner bike tube aroud the rims.
Working on the frame.
I have build the bot with what i had laying around, could use smaller steppers.
These are Nema 17 steppers. Which fit this frame perfect.

The hardware and firmware where designed by Joop Brokking.
You can see his youtube vid here:
https://www.youtube.com/watch?v=6WWqo-Yr8lA&google_comment_id=z13rvh5wokmixbwkh23ig3ooxtr5f5pg304

The only thing i want to change is the controller.
Joop made it with an Nintendo Wii controller, i 'd like to use a normal analog 2 axis joystick.
Also i want to make it controllable by an RC receiver.
I only changed the transmitter part of the code, not touching the firmware for the bot.
Also i'm going to write an PWM to BOT-Data Converter for the peolple who like to co