[Jeffmudhs]

We use one controller. If I remember correctly, mind you i'm not on the drive team and have not driven the robot, i believe we use the trigger + direction for translational drive, and the button to spin. As stated above, We are not easily pushed because of the orientation of the wheels. they form to make a shape such as:

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/ \

It is noticable on the drawing above. The wheels allow for slip so we can be pushed with enough force and so that it does not damage parts for the drive train (easily, all things break).

I hope this answers your question.