I don’t know if I have the team correct, but 2349 Hurriquake used a tablet to control their bot and act as the drivers’ station. The won innovation in control at the Boston Regional this year. Hopefully someone on their team sees this and either corrects me or expands on this.
These are all really cool methods of control! Really great stuff guys! Keep it coming, and get as technical as you want! 
We’re (I’m) working on a custom dashboard in which you draw a path on a scale field and have the robot traverse it. It’s sort of like the recording/replaying autonomous, for which I have code, in case someone wants to improve it. It’s C++, and horribly written (by me 
).
I cannot overstate this enough: if you have a skid-steering robot and have not tried using one of these controllers yet, then you are putting a large handicap on the learning curve of your driver.
One of the better control approaches we’ve used for such a drivetrain is having the steering wheel position set a target setpoint for the rate of rotation of the drivetrain, so if you turn the wheel a given amount the robot will try to turn at X degrees/second (using gyro feedback). This has the nice advantage of eliminating rotation overshoot, since as soon as you let go of the wheel the robot tries to stop spinning by itself.