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There are two of us on our team, and for as far back as I know, we have always used two. The first driver (Bob) has a joystick, and has complete control of the base. Included this year is the buttons on the joystick for shifting from 2wd to 4wd, and an auxilary box with a switch to shift high to low gears. The second driver (me) has one joystick to control the arm. In addition I have a control box that has appx. 8 or so different buttons; one for each possible 'mode' we can be in.
I would suggest trying to implement a plan to include a second driver, and keep communication as your key.
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