EnTech 281 Greenvillains have been working on a C++ library called "Entech-Fpk" (which stands for FIRST Programming Kit). The purpose of this project is to provide non-game-specific tools for the FRC cRIO platform. It includes framework classes that extend WPILib. The project is hosted at
http://code.google.com/p/entech-fpk/. Although development is ongoing and the code is still in alpha, we hope it will contain code that you all will find useful.