I might be able to answer both of your questions
for a basic 2 motor 2 joystick teleOp drive:
joystick.joy1_y1 = motor[motorD]
joystick.joy1_y2 = motor[motorE]
assuming that you have the motors configured with defult names.
For button control you will use if statements:
if(joystick.joy1_buttons ==
)
{
motor[motorD] = 100;
motor[motorE] = 100;
}
I am still a little rusty from last year these might not work....
