Just to tack on some extra info, here's a link to my github project from last year:
https://github.com/TeamExcel/Project.../Robot2012.cpp
Hopefully it can provide a decent reference.
There are also some helpful examples in windriver (instructions are in the documentation listed above I think), but I would suggest using IterativeRobot instead of SimpleRobot as a base class.
Good luck, I was in your situation 1 year ago
