[omalleyj]

BTW, When I wonder what the heck is going on in wpilibj, I find looking at the source code is enlightening/interesting/scary depending on the day.

I recommend you opening wpilibj as a project and browsing through the RobotDrive.tankDrive source, or whatever other classes and methods you are using. It doesn't always help but sometimes it can be a real benefit.

Good luck!