[airnate]

1. Yes, you can put code in Basic Robot Main, although out of the box it should already give you two wheel arcade drive.

2. In a sense, you don't actually have to modify anything and you should still have a very basic drivable robot. I'm not sure what you mean by "what should I wire the end loop to?".

3. If you have more than two motors, you'll probably want to add code for the additional motors. If you have the time, you could dabble with the camera for which there is an example to track the target in autonomous mode. If you have a way to gather the balls, you may have additional motors to control to do that. There are lots of other possibilities depending on what sorts of sensors or actuators you team chooses to implement.