[phurley67]

Have you checked out the robotbuilder? If not it provide a very concrete way to understand how subsystems, commands and OI all fit together. It generates readable code based on your description.

Think of it this way, your robot is composed of one or more subsystems. Each subsystem will have one or more commands associated with it.

You will almost always have a subsystem for your drivetrain, which at least initially will probably use either the 2 or 4 motor controller. You will then create a teleop_drive command for your drivetrain controller.

Generate the code, and fill in a few blanks and you should be able to get your robot moving pretty quickly. Give that a try and if you get stuck let us know.