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in vanilla, the engineer can be built like a summoner but i think those skills might not be available early game (not 100% on that tho).
For a dedicated summoner class...
Synergies has a necromancer but then it also ups game difficulty a lot (cant take it too easy).
The Variant Classes mod has 20+ classes and some use summons quite a bit (but they're all on the op side, so u can be lazier with most any of them :P ).
There's the Classless mod which has a summon-centered discipline as well.
Maybe @steffire can point out some more too.
1) Engineer:
Healbot, 1 point (you can level it more, but you can also use HP restore gems instead)
Spider Mines, fully leveled and just spam constantly
Use other robots it you sometimes have access to the keyboard (you can also right-click them on the skill tray)
Heavy weapon with 1 point in Flame Hammer (or more - up to you) until I can get Emberquake (at level 42), which I fully level
All passives that apply are fully leveled
If you want to use a cannon:
Blast Cannon, or don't invest much until you can get Fusillade and level that one
Again, Spider Mines and any other robots you'd like
All passives that apply are fully leveled
When I play Engineer with these configurations, I usually don't bother thinking about charge, because it doesn't help your robots, and I'm emphasizing robots. The only skills that I'll use on the Aegis tab are Immobilization Copter and Aegis of Fate.
2) Embermage:
Prismatic Bolts, fully leveled
Blazing Pillar, fully leveled, if you are able to sometimes use a non-mouse skill (you can also right-click from the skill tray)
Astral Ally is also good and can be right-clicked from the skill tray
A lot of people like to put one point in Frost Phase, but it doesn't work for one-handed play
All passives that apply are fully leveled (the one passive I NEVER use if Prismatic Rift - it can cause more harm than good and if you don't have access to your keyboard - you will die quick)
3) Outlander:
Rapid Fire, fully leveled
Shadowling Brute is fun and helpful at the higher levels (can be right-clicked on the skill tray)
All passives that apply are fully leveled
4) Berserker:
Shadowburst, fully leveled
Wolfshade if you have occassional access to the keyboard (you can also right-click this from the skill tray)
All passives that apply are fully leveled (on Berserker all passives are good, actually)
I recommend running through the game with a character on Normal Difficulty first. Easy Difficulty doesn't drop good gear, and can sometimes be harder than Normal for that reason.
I have completed the story with these setups on all of these characters using just my mouse (because I had to do it that way). Eventually I was able to do this even on Hardcore Elite, but it's very tricky.
Most skills can be activated with a right-click on the skill tray, but not all. If the skill needs to be aimed in some direction, then it usually cannot be right-clicked on the skill tray.
Acquiring mana and health regeneration gems for your gear makes things a lot easier. When you are first starting the game, you might not get enough in random drops, so you'll need to transmute a lot of your extra gems until you get some.
It's very simple and not very cutomisable but you can beat the game with it in any difficulty just be using the mouse.
There is just one active skill ( a Dash binded in the right-click) and every thing else are procs triggered by standard attacks.
I you are interedsted you can find it as a bonus class in my Elemental Brute mod.