[mikets]

Start with a sample program that's provided with WindRiver (assuming you have installed the workbench update for FIRST). I don't have WindRiver in front of me, so I am reciting from memory. Do File->New->Example Program then something about kernel module example, FIRST or something like that. There are many sample programs. You may want to try the "SimpleRobot" template. It should contain basic teleop code. I think it might even has a couple lines in autonomous driving the robot forward for 2 seconds or something like that.