As Brian said, no wireless.
Otherwise, I believe you can use any controller, or even make your own controller.
This is one of the areas that FIRST is very lenient in! I believe that you can even build a glove so you can motion-control the bot!
As a general rule, if it follows the rules, it is indeed allowed. If you’re wondering if something is illegal or not, it may be a good idea to post the specific rule that causes you to wonder about the legality of the device.