[SuperBK]

Run the default code first. After loading the code into the robot controller, open the terminal, if the statement "printf(..." is not commented out, it will print the values for the joysticks. You can add other variables (like switches) to the printf. Move the sticks and see what values change. Look at Default_Routine() like the other poster said.

Look at ifi_aliases.h for the possible variables you can read and set.

Autonomous mode is in user_routines_fast.c. Look at User_Autonomous_Code(). It runs in a loop so you have to have a state machine. After you get the robot going and a few things figured out, then search around for an example or post back here.

Note: The operator interface will not talk to the robot controller until you set the team number on the IO and tether it first.

Hope this helps,
Brian