[Grim Tuesday]

If you think you can control the entire robot better with one driver then by all means do it; no one is stopping you. You can even hold an empirical test and let this mentor try controlling the whole robot versus splitting it up as it is done traditionally.

Some robots lend themselves better to a driver/controller setup; we've found that when we don't have some sort of major appendage (like an arm or elevator) it's best to give the driver the "shoot" functionality since it is most efficient. However, in the case where we have something like an articulating arm and wrist it makes a whole lot more sense to let the driver focus on positioning and let someone else do the arm.