[Alan Anderson]

We started with both one- and two-joystick options last year. Yes, one joystick was easier for people who had never driven a robot before. However, for those with experience (or after a bit of practice), it was much easier to control using two joysticks.

The issue of turning while going backwards leads to some seriously nonintuitive behavior when using a single joystick. There are fixes, but none seem entirely satisfactory to me.