[rbmj]

Ok. Let me go through this.

Here's a sample program using SimpleRobot. Most of this is in the GettingStartedWithC pdf, but...

#include <WPILib.h>

class my_robot : public SimpleRobot {
private:
    //the names are completely arbitrary.
    Jaguar left_front_drive;
    Jaguar left_rear_drive;
    Jaguar right_front_drive;
    Jaguar right_rear_drive;
    Jaguar actuator_yournamehere;
    Jaguar actuator_someothername;
    RobotDrive drive;
    Joystick drive_joystick;
public:
    my_robot();
    void RobotInit();
    void Disabled();
    void Autonomous();
    void OperatorControl();
};

my_robot::my_robot() : //call constructors for all members of my_robot
    //PWM Ports
    left_front_drive(1), //replace with your actual ports
    left_rear_drive(2), //ask your electrical team for the port numbers
    right_front_drive(3),
    right_rear_drive(4),
    actuator_yournamehere(5),
    actuator_someothername(6),
    //RobotDrive object
    drive(
        left_front_drive,
        left_rear_drive,
        right_front_drive,
        right_rear_drive
    ),
    drive_joystick(1) //joystick 1
{
    //constructor.  Initializes all objects (above)
}

void my_robot::RobotInit() {
    //any run-time initialization you need goes here
}

//The following functions will be called exactly once
//after they have run the robot will just sleep until
//a state change (e.g. Autonomous to Disabled)
void my_robot::Disabled() {
    //disabled code.
}

void my_robot::Autonomous() {
    //your autonomous code should go here.
    //make dead sure that this function returns
    //before the start of TeleOp or your robot will
    //be a brick
}

void my_robot::OperatorControl() {
    while (IsOperatorControl()) {
        drive.ArcadeDrive(drive_joystick);
        if (drive_joystick.GetRawButton(1)) { //use whatever button you need
            actuator_yournamehere.Set(1.0); //use whatever power you want
        }
        else {
            actuator_yournamehere.Set(0.0); //turn off
        }
        if (drive_joystick.GetRawButton(2)) {
            actuator_someothername.Set(-1.0); //say reverse, whatever
        }
        else {
            actuator_someothername.Set(0.0);
        }
    }
}

START_ROBOT_CLASS(my_robot);

This is very minimal code, but I hope it's enough to get you started.

I'm coding from memory and don't have anything to test it on, so there may be some errors.

I hope that between this and the documentation you can figure out how to adapt this for your circumstances.

If you need more help, you know where to ask.