What is the best way to record from a single fixed camera?
There isn't really a good answer to that.  There isn't a whole lot you can do with a fixed shot and making adjustments on a live shot is always a danger of being distracting, even when controlling it by hand as an experienced operator.  Making adjustments via a Pan Tilt Unit while the camera is live is going to be anything but smooth and will be very distracting.

I'd recommend either recording from both to edit in post or picking up one of the Black Magic Studio ATEM's (under $1000 HD video switcher with built in H264 encoding).