WindRiver errors

[dnrobotics11]

Okay, I have been fighting with the cRIO for weeks now. I have already configured the whole system and at one point was able to make a motor run using the default code in WindRiver but now I am unable to get the downloaded code on to the cRIO. The driver station sometimes says next to the battery label that there is "no code" while sometimes it displays the battery voltage. The program seems to be compiled and the IP addresses are all connected. Does anyone have any idea how to download the code?

Also, I have been using the Simple Template with the MyRobot.cpp file to learn the WindRiver language but how would I go about making a new template of which I can have the base as the Simple Template but I can edit it and add other ".h" files and templates (such as gyro or camera) into it?

Hopefully my question is clear. I would greatly appreciate any help. Thank you.