1 Joystick Drive Code

Is there any default program where there is only one joystick in use, instead of using both? That way there is greater control in the robot.

Yes, read the “Full-Size Robot Controller Reference Guide"?. It describes how the PWM Outputs are mapped and which ones should be use for 1 joystick drive. The guide is on the RC web page under “Description"? at: http://www.ifirobotics.com/rc.shtml#Description