Could you check the version of LabVIEW you are running?
There shouldn't be a drive While loop....
Look under:
Help -> About FIRST Robotics Competition Software...
You should be running "Software Update 2.0"
If your code is not showing up on the cRIO, how are you doing the download?
There are several ways to download and there can be pitfalls if you don't understand the difference between Run, Deploy and Run as startup.