[DonRotolo]

Yes.

Each motor requires its own controller as per <R42>.
I'm not a programmer, but you'll need some programming to read in the value of the joystick (or whatever) via the Classmate computer and have the cRio control the motor controller. There are examples of how this is done somewhere, ask in the programming forum if you can't figure it out. Then you need to get the software you wrote into the cRio, but that's way beyond what I know.

Please look at the competition manual page on the FIRST web site, they have a POWER wiring diagram and a DATA wiring diagram posted there. It shows everything you need and how it's connected.

Also read the rules, especially section 4 (The Robot), since NOT following the rules (ALL the rules) will prevent your robot from competing.