[ahartnet]

First you'll need to make sure you know which axis goes to which joystick. Don't connect up your robot motors (you might not even need to enable it, I can't remember) and in the driverstation there will be one tab on the left side you can click that will show you a bunch of buttons and sliders that correlate to user input from the joystick. This will tell you what # you need for the getRawAxis(#) function.

You can use either the Getting Started project or the Tank Drive one. Getting started uses Arcade drive, Tank drive uses...Tank.

Either way you'll need to make sure to have a couple of things mapped correctly in the code:
Which joystick axis do you need to use (using the above method)
Which motors need to get powered - this is determined by where your PWM cables are plugged into the rio.

If you have 2 CIMs per side - I highly recommend disconnecting one from power and ensuring they both treat forward as the same direction independently. It's a good way to burnout motors or mess up gears if they're fighting each other and you keep trying to make it move.

Probably common sense - but since it's a rookie year I want to say this just in case: I also highly recommend putting the robot up on blocks and everything is free and clear of belts/chain/wheels until you feel comfortable it's not going to go anywhere unexpectedly.