Start by looking into the Jaguar or Victor classes respective to the speed controllers you have.
A hint, tank drive directly maps joysticks to speed controllers.
Arcade drive is a little trickier, but here's a hint. To turn the robot you send a positive value to one speed controller and a negative to the other. To go in a direction you send the same value to both controllers. Remember your max value is 1 too, so you may want to consider that if you really want to impress
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