Real time control of an arm

hello, what would be the simpliest way of reading the position of a control stic/arm, held by the user, and just controlling a longer arm with more torque in real time?

A potentiometer on each joint of the controller arm, connected to Arduino analog input pins. Move each joint (on both arms) to its min/max positions and write down the values, and use those to translate potentiometer positions to ODrive positions. Very easy.

ok thankyou very much