[cjl2625]

We usually use two drivers.
Last year, it generally worked, but occasionally there were problems.
More than once, the driver would go to stuff the ball in the low goal, but the operator wanted to shoot in the high goal. So, the driver spins to eject the ball out the back, but the operator shoots and the ball gets launched away from the goal and backward over the truss.

This year, two drivers seems absolutely necessary, especially since we are a landfill bot. The driver uses two joysticks to control swerve, and I use a gamepad to operate.
I use 9 buttons (including triggers), both joysticks, and the D-pad. Some of those controls, however, are for manual override when the automation screws up.
Nevertheless, if one person had to keep track of all this while driving, their head would explode.

After a bit of practice, cooperation between the driver/operator became quite fluid. Now, there are almost never communication mistakes or confusion when we play our normal landfill game. The only time we've recently messed up was when human playering, which we don't do often. However, this too is becoming increasingly fluid as we practice with it.