exoskeleton project!

hi ive built an exoskeleton using torque motors and 2 manual motorspeed controllers, and im trying to step up the control by using an l298n module with arduino , and joystick module to control the arm for example: MotorA - forward and backward control on y axis and MotorB forward and backward on x axis ide deeply apreciate it if anyone had some knowledge about how to do this , i have all necessary equipment but lack the knowledge of the code/programming ALSO i have a video of the exoskeleton in action as well a picture representing what i want to accomplish with the motor direction using the joystick thanks C: cody!!

email me at codyleegraham19@gmail.com for video or go on youtube , type cody graham exoskeleton prototype (: thanks