According to Wikipedia, just connect +5v to pins 1,8,9 and pins 4,5,12 to Gnd.
Joystick X/Y should go to your micro-controllers ADC.
Joystick 2 X/Y is for the shoulder pads [I think
Joystick outputs should be linear varying between 0-100 ohms, so remember to adjust your $50 robot code!
Buttons will output ~5v when pressed, as per the pin out table
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Defiantly a helpful post!
Best of luck with your project