player/stage: how to program my robot

hi! i've just install player/stage on ubuntu and i read a tutorial to understand how to use it.
but i've got a problem?
my first project consists by a pioneer 2dx robot that looking for some object that i put in the map.
i created correctly the world and the configuration files and i ended to write the cc file (includes+functions+main);
now how i can tell to my robot (pioneer 2dx) to do what i wrote on the cc file? where i have to specify it? in the world file?
I hope I was clear!