6 DOF Robot Arm Issues.

I bought this kit recently for my son.  He assembled it in no time…and is anxious to use it.  I bought a 16 channel 12 bit servo control/driver board specifically for this.

We are able to use the examples provided by the driver board easy enough but we want to incorporate 2 joysticks to controll these 6 digital servos…and I am able to find hundreds of examples of the analog variety but not one that uses digital…that uses SDA and SCL via Analog 4 and 5 off the arduino uno.

This is our first big project.  We have dabbled in several smaller ones.  Hopefully this community can point us in the right direction?  My google-foo is amazing, but I am just not having any luck.

Much appreciated
W