[robogeek753]

While I have never programmed a VEX Robot, I may be able to help a little bit.

0.) PWM is simply a output, usually to a motor's Victor speed controller.

To the rest of them, they look pretty VEX specific to me, I've never seen them on a FRC Robot (though I was looking at code someone else wrote, may be different at lower levels). Thus, to answer another question, you will probably have one heck of a time switching you code from VEX to FRC. (Look at the EasyC program and you have to change the entire format for FRC vs. VEX). p1_y indicates the joystick programmed into the first joystick port on our OI's Y axis value, this may help in setting up an FRC robot moving a bit.

Again, all the code I've looked at was written by someone else, so I don't know if they did any special setup to make it work so nice the way it did; but I am glad to offer any knowledge I can.

P.S. Welcome to the FRC and/or FTC!

P.P.S. If the code is confusing, try EasyC. Your team should have a free license for it, and it is actually a relatively powerful program (still trying to figure out how to use the text editor though...)