[Matt Krass]

There is a function in user_routines.c called Default_Routine(). This is basically your playground, this function runs about 38 times a second (26.2 milliseconds) and you put all your logic in here. Your OI data (joystick values, buttons pushed) is all available in aptly named variables (p1_y, p2_x, p2_sw_trig, etc) that you can check with if statements. For example to make the trigger on the joystick connected to Port 1 drive the robot forward and your motors are on pwm01 and pwm02 you might try this:

// in Default_Routine()
...
	if(p1_sw_trig) // If the trigger is pushed
	{
		pwm01 = 255; // Left motor full speed forward
		pwm02 = 0; // Right motor full reverse since it's likely facing the  opposite direction
	}
	else // Trigger is not pushed
	{
		pwm01 = 127; // Motor stopped;
		pwm02 = 127; // Motor stopped;
	}

Note this is not a recommend way to drive, you're better off mapping the pwm outputs to the joystick inputs like this:

...
pwm01 = p1_y;

That should be enough for you to get started, it's all just basic logic.
Good luck!