Check out the LabVIEW tutorial on motor control here:
https://decibel.ni.com/content/docs/DOC-14723. There are a lot of good getting started tutorials at ni.com/frc
To add a joystick you need to add code to initialize it and set it to a named refnum in Begin, add code to use it in Teleop (or periodic tasks) and add code to close it in Finish.