If you have already shipped the cRIO, you can run the code on your computer (to an extent). See the following link
http://www.lvmastery.com/TipJar2009-02-08_3
How complicated is the mechanism you are trying to control? Is it just direct joystick to motor controls, or do you plan on automating certain functions of your robot?
Also, it's pretty easy to change motor direction once you get to competition, as it's just a True/False boolean for the Open Motor.vi
Feel free to ask me for any help.