There is a new version of the Robot Programming Cookbook posted on the WPILib project under the documents section. It has a new section on writing command-based programs in C++ with a fairly extensive tutorial. I would highly encourage teams using C++ to check it out. It makes writing complex robot programs much simpler and provides a "cookbook" method of organizing your code.
http://firstforge.wpi.edu/sf/docman/..._documentation
I still have to add more C++ examples to go with the existing Java code, but this should make it a lot better for everyone thinking about using this approach to programming your robot.
Brad