My knowledge on the controllers (which may or may not be accurate)...
Back in the day (1998 and earlier I think
)... Eric Rasmussen used to design the controllers. I believe he works for Deka, but is also a FIRST volunteer. The contollers were basicly given to you in a project box and you had to send them back to FIRST when the season was over. There was no such thing as relays, all the motors used hobby style Teken speed controllers. Programming was accomplished via a Basic Stamp.
Basicly some X-mililtary type people decided to start Innovation FIRST. You'll also notice that they design rack mount enclosures. Innovation FIRST gave us the control system we use today. Robot enthusuats drool over the stuff they make. I believe some Battlebot competitors use their stuff as well. Innovation FIRST has really done an amazing job with the control system.
... enough rambling
EDIT:
Correction: Eric works for FIRST. Thanks John.