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Re: Console output
Check out the DriverStationLCD class in WPILib. It's named for the 6 line LCD on last year's DS, but now writes to the 6 line "User Messages" space on the "Operation" tab of the 2010 DS UI. (Not sure why it's not in the documents - probably because it was released mid-season last year, and was only made an "official" part of WPILib this year.)
You can display any data you like using standard printf()-style formatting (just pay attention to line lengths - 21 characters is not very much).
Also, note (and you will soon find out) that pushing the joystick forward returns -1, and pulling it back returns +1. It's usually not a critical issue because all of the WPILib routines account for it, but if you are directly reading the stick and driving a motor using the return value, you will want to account for it, because it is is a little non-intuitive. Makes perfect sense when flying a plane, but it's backwards for driving!
HTH.
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