Vogal the Dragon

So I got into doing Renaissance acting this year and got to thinking, what would it be like if you had a real life dragon? Here is as far as I've gotten so far with that thought, the eventual plan is to make this dragon attonomous, but at the moment he is controlled with duel sliding joysticks that control the height and rotation of his head, how wide his wings are spread and the angle of the wings (I'll add in controls for the tail later). The joysticks will eventually be replaced with IR sensors and an accelerometer, but I'm still working on those baby steps.

The model does use a derivative of the dragon head: http://www.thingiverse.com/thing:1466

Any help with the programming would be greatly appreciated.