import taproot library

  #include "tap/board/board.hpp"

#include "drivers_singleton.hpp"
#include "tap/communication/serial/uart_terminal_device.hpp"

use tap::communication::serial namespace for printing

  using namespace tap::communication::serial;

get drivers and initialize the board and terminal

      //get drivers(controls basically everything)
    src::Drivers *drivers = src::DoNotUse_getDrivers();

    UartTerminalDevice ter(drivers);
    ter.initialize();
    modm::IOStream s(ter);

    Board::initialize();
    drivers->remote.initialize();   // init remote

initialize the remote

      drivers->remote.initialize();     // init remote

in the main while loop read the remote with drivers->remote.read() and check if its connected with drivers->remote.isConnected()

Then to read any value on the remote use drivers->remote.getChannel

In this case, we are reading the left joystick horizontal channel

          drivers->remote.read();                                          // Reading the remote before we check if it is connected yet or not.
        if (drivers->remote.isConnected())
        {
            // get remote value
            double remoteValue = drivers->remote.getChannel(tap::communication::serial::Remote::Channel::LEFT_HORIZONTAL);

            s.printf("remote: %f\n", remoteValue);         // print out value
            modm::delay_us(10000);
        }

Code: 

  #include "tap/board/board.hpp"

#include "drivers_singleton.hpp"
#include "tap/communication/serial/uart_terminal_device.hpp"

using namespace tap::communication::serial;

int main()
{
    //get drivers(controls basically everything)
    src::Drivers *drivers = src::DoNotUse_getDrivers();

    UartTerminalDevice ter(drivers);
    ter.initialize();
    modm::IOStream s(ter);

    Board::initialize();
    drivers->remote.initialize();    // init remote

    while (1)
    {
        // Reading the remote before we check if it is connected yet or not.
        drivers->remote.read();  
        if (drivers->remote.isConnected())
        {
            // get remote value
            double remoteValue = drivers->remote.getChannel(tap::communication::serial::Remote::Channel::LEFT_HORIZONTAL);

            s.printf("remote: %f\n", remoteValue);         // print out value
            modm::delay_us(10000);
        }else{
            s.printf(".");
        }
        modm::delay_us(10);
    }
}