[J_B_Wood]

I would say a single skilled driver capable of controlling the entire robot will always be quicker and more reliable than two half-skilled drivers. There are basically two ways to accomplish this: Driving practice or code complexity. If you allocate more time to driver practice, your driver MAY eventually be able to control an entire complex robot by themselves. I say MAY eventually as this is a pretty difficult task.

To compensate for driver skill, or if you have an exceedingly complex robot, you will need to automate some tasks to lighten the burden on the driver. Perhaps instead of controlling 3 different actuators with 3 different inputs that result in a shooting motion, you have a single "shoot" button that makes the life of the driver much easier.

Both driver practice and complex software will require a lot of time to get good, so you need to manage your time well during the build season and be realistic about what can be accomplished. This means finishing the robot extra early, and potentially building two robots so your mechanical folks can keep working/tuning the primary bot while your coders/driver works on the secondary bot.