If you already know Java you're well on your way. Even if you've only written a 'hello world' Java program you're well on your way. And, since you appear to have knowledge of LabView and already have a working robot you're just steps away from getting your robot to run on C++.
I suggest the following:
1. Locate your Wind River Workbench for FIRST Robotics Competition 2011 DVD and install the Wind River IDE.
2. Make sure you have the latest C++ updates installed. Here is the link to find them at:
http://firstforge.wpi.edu/sf/go/proj...1_0_for_2011_f
3. Once you get Wind River installed I especially recommend watching these two videos:
http://thinktank.wpi.edu/article/137
4. Write your first program using these documents as your guide:
http://firstforge.wpi.edu/sf/docman/..._documentation
5. Keep asking questions.