This year we used two Logitech controllers, the operator's controller had buttons replacing the triggers (it turns out that this controller is now discontinued
). On our driver's controller (we had a mecanum drive-train) one joystick controlled the direction you want to go and the other joystick controlled the magnitude, the driver also had control of our tray system. Our operator had both manual and set position control of our forks and elevator as well as an auto stacking routine at the human player station and an auto placing routine for scoring.
For the past few years on the team we have had two drivers. I don't believe we have had communication problems between our drivers, they get in a lot of practice time before our first competition.