[GeeTwo]

Whether we have one driver or two is entirely a function of robot complexity. Our competition robot for Recycle Rush only had three CIMS (two drive, one lift) and no other actuators, so a single driver did it all through an xBox controller. We had two drivers that originally swapped off about halfway through the match based on their strengths; later we switched to a "primary/relief pitcher" model. We also used a single xBox for Aerial Assist (mecanum + 3 actuators); I believe we had a primary and a backup driver. For Ultimate Ascent and Rebound Rumble, I seem to recall that we had two separate controllers, one for the "main game" and another for the "end game". I think we used PlayStation for one and classic atari-style joysticks for the other both of those years. The drivers had a bit of cross-training, but for the most part they specialized in one part or the other. We have not done any "custom drive stations" beyond having a custom wooden structure to support and secure the COTS driver station and controllers; this year all we did was add some velcro to the classmate and controller so they didn't fall off the shelf.