Have you looked at the example template things that they have in windriver? They show a couple of decent examples.
I haven't been able to actual put code on our controller yet, but I have been playing with the code a bit (I don't know if what I wrote works yet

) so I can't help too much yet
From what I have looked at it looks like there are a couple of ways to go about the basic drive functions. You need to create your joystick objects
Code:
Joystick LeftStick(1);
Joystick RightStick(2);
then either create a RobotDrive object or create motor controller objects (or both)
Code:
Jaguar LeftMotor(1);
Jaguar RightMotor(2);
then set the speed to the joystick
Code:
LeftMotor.Set( LeftStick.GetY() );
RightMotor.Set( RightStick.GetY() );
The only problem is that I am not sure if Joystick::GetY() returns a scaled number between -1.0 and 1.0 that I think the Jaguar.Set() takes, otherwise there is the RobotDrive function which is shown in the simple robot sample example template thing
Hope that helps