[Shadow503]

FIRST includes several demo programs in Windriver. To access these projects go to File -> New -> Example. . .
Then select VxWorks Downloadable Kernel Module Sample Project.

For a dashboard vision demo: FRC Dashboards sample showing images. . .
For servo based color tracking (red is default): FRC Vision Simple tracker
For a vision demo to really blow your mind: FRC Vision Demonstration

I'd recommend starting with the servo demo and modifying the code to drive the robot instead of simply moving the servos.