Robotron 2084 article on Gamasutra

A scene from Tradewest's 1986 arcade game, Ikari Warriors, which made use of a rotary joystick, allowing for movement in eight directions and aiming rotation. Rotary joysticks can be considered a single-controller compromise from the dual-joystick format.

Rotary joysticks were not a compromise; they were designed specifically for the game. Ikari Warriors wouldn't work well with a dual joystick Robotron-type setup because for one thing, you have limited ammo, meaning you don't want to be constantly firing every time you aim; and there is also a grenade button you need to use.
 
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