Thanks for the suggestions!
Here's what we did:
Download and launch the Logitech Gaming Software for the G13 at
http://support.logitech.com/product/...board#download
Program G1-G13 as Numpad 0-9 and Num * Num / and Num + and G14-22 and the two buttons by the mini joystick as G23-24 to F1-F11 (To avoid confusion - do all of three sections: M1, M2, & M3). (We did different colors but that's not necessary)
Download VJoystick at
http://sourceforge.net/projects/vjoystick/
Then Download VJoy Setup at
http://www.headsoft.com.au/download/pc/VJoySetup.exe
Follow instructions at
http://www.headsoft.com.au/index.php?category=vjoy
Setting VJoy Virtual Joystick 1 Buttons 1-13 as the same as you configured them in the Logitech Software and Setting VJoy Virtual Joystick 2 Buttons 14-24 as the same as you configured them in the Logitech Software
Make sure to check launch on startup, enabled, block keys, and auto center
Click on save "ini" to save the configuration for the VJoy Setup software.
The programs must be running while trying to control the robot and may need to be opened if the driver station turns off or goes into hibernate.