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Many teams use the "tank drive" control system for their robot. I believe the default code is pretty much already set up for this. Set PWM1 equal to the y-axis of the left joystick and PWM2 equal to the y-axis of the right joystick. Put PWM1 on the motor driving the left side and PWM2 on the motor driving the right side.
When you want to turn left gradually, push the left joystick farther forward than the right. If you want to spin around with an almost 0 degree turning radius, push the left stick all the way forward and the right stick all the way backward.
The programming isn't very difficult, if you need help with the exact code let me know and I (or someone else) can help you. Driver practice is the key. It takes a while to get used to it.
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