[SuperBK]

First you must undeploy any code set for startup using the First menu. Then right click on the project after you have built it and select "Execute Kernal Process" or "Debug Kernal Process". Its on page 11 of the file "GettingStartedWithC.pdf" from WPI

From the document:
To start a debug session first make sure that the PC is connected to the target. Right-click on the project name in the “Project Explorer” window and select “Debug Kernel Task…” The Debug dialog is displayed.
Figure 1: Setting the entry point on a Debug Configuration for a robot program.
Change the name of the debug target to something meaningful like “2010TargetTest” shown in the example. Select as the entry point the function FRC_UserProgram_StartupLibraryInit. On the debug options tab, select “Break on Entry” and “Automatically attach spawned Kernel Tasks”. This tells the debugger to stop at the first instruction, and to make the spawned task (your robot task) available to debug.

Brian