[mikets]

I assume if you are using the SimpleRobot template, you will have something similar to the code below. Since I don't have Wind River in front of me, I am writing the code from my memory, so some names may be wrong and the code may not be exactly the same as the template but it gives you an idea where to put things.

#include "WPILib.h"
#include "macros.h"   //Or put the macros here directly.
 
class MyRobot: public SimpleRobot
{
    Joystick leftStick;
    Joystick rightStick;
    RobotDrive drive;
 
    MyRobot():
        leftStick(1),   //Please use correct Joystick port
        rightStick(2),  //Please use correct Joystick port
        drive(1, 2)     //Please use correct PWM channels
    {
    }
    ...
    ...
    void OperatorControl()
    {
        while (IsEnable() && IsOperatorControl())
        {
            float leftPower = DEADBAND_INPUT(-leftStick.GetY());
            float rightPower = DEADBAND_INPUT(-rightStick.GetY());
            drive.TankDrive(leftPower, rightPower);
            ...
            ...
            Wait(0.05);
        }
    }
};