Denard is probably better than Taylor when Denard is "on." But I watched a lot of games where he was not "on," too... Considering their whole body of work this season, I thought Taylor had a better, more consistent season, even though Denard obviously won the head-to-head battle.
I've watched Robinson this year. He is head and shoulders a more effective player than TMart. Saying otherwise is pure homerism.
I've watched Robinson this year too. Like I said, when he's on, he's more effective. When he's off, he's more of a liability than Taylor is, and Denard was off more often than Taylor was this season.
Look at the stats:
Robinson:
1791 yards passing
53.1% completion
15 TDs
14 Ints
947 yards rushing
2882 yards in total offense
7.17 yards per play
Martinez:
1973 yards passing
55.9% completion
12 TDs
7 Ints
837 yards rushing
2810 yards in total offense
6.31 yards per play
Taylor and Denard compiled nearly identical statistics in terms of total offense, while Denard was slightly more efficient, averaging a little less than one more yard per play, and he accounted for a few more TDs. On the other hand, Denard threw twice as many interceptions as Taylor did, and Taylor faced a much more brutal schedule (Denard faced Purdue and Illinois while Taylor faced Wisconsin and Penn State).
I'd take Taylor.