If you would like to run it interactively and be able to see values change and turn highlighting/debugging on, you should be able to just press the run button at the top level vi (e.g. Basic Robot Main.vi), and assuming that you have targeted the cRIO, the code should deploy temporarily without rebooting.
The FRC Programming Guide.pdf talks about the three ways of deploying in detail; see page 4-16 (or page 50 in the pdf) entitled
Deploying the FRC Robot Project.
http://decibel.ni.com/content/docs/DOC-2631
The part you may want to know is entitled
Building And Deploying A Stand-Alone Application:
Complete the following steps to build the FRC robot project into a
stand-alone FRC application and run it on the CompactRIO device at
startup.
1. In the Project Explorer window, double-click the FRC Basic Robot
Deployment build specification or the FRC Robot Boot-up
Deployment build specification under the Build Specifications folder
to display the Real-Time Application Properties dialog box.
2. On the Information page, specify a name for the build specification in
the Build specification name text box.
3. Specify a name for the application in the Target filename text box.
4. Specify the location on the host computer to which you want to save
the stand-alone application in the Local destination directory field.
5. Specify the location on the CompactRIO device to which you want to
save the stand-alone application in the Target destination directory
field.
6. Select Source Files from the Category list.
7. Verify that the Basic Robot Main VI or the Robot Main VI is in the
Startup VIs list.
8. Click the OK button to close the Real-Time Application Properties
dialog box.
9. In the Project Explorer window, right-click the build specification
and select Build from the shortcut menu to build the application.
10. Right-click the build specification and select Run as startup from the
shortcut menu to set the application as the startup application and
deploy the application to the CompactRIO device. LabVIEW prompts
you to reboot the RT target.
11. Reboot the CompactRIO device to run the application.
Note If you no longer want the application to run on the CompactRIO device at startup,
right-click the build specification and select Unset as startup from the shortcut menu.