There are three sample programs included with ROBOTC for RVW for remote control with joysticks.

File -> Open Sample Program

Navigate to the Virtual Worlds folder, then find the Remote Control folder. You'll find three sample programs inside:



If you're just starting out, try out "2 Joystick Drive.c".

These are available for both RVW for VEX and RVW for NXT.

To make sure your joystick is working, you'll want to open the Joystick Debugger window in the Robot menu item.

Robot -> Debugger Windows -> Joystick Control - Basic