One of my students rigged up a control setup for our swerve drive that won.
He wrote a MIDI to USB joystick program so that we could use a DJ turntable as the yaw control,
and coupled it with a joystick for field-centric drive.
If I recall, the total award was for the unique control setup driving a swerve with field-centric driving, some pretty impressive control loops handling steering and the 180 problem (reverse throttle, or spin the module?). He really whipped up quite a slick system, and it was that 'total system mindset' that resulted in the award. He also had a system to use a hacked guitar hero controller to drive the secondary robot functions, like scoring triggers, LED patterns, and LED feedback.