There is a new version of the Robot Programming Cookbook posted on the WPILib project under the documents section. The example is (hopefully) substantially cleaned up. And it has a new section on writing command-based programs in C++ with a fairly extensive tutorial. I would highly encourage teams using Java 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
In addition there is a sample program called GearsBot provided with Netbeans that illustrates the features as a sample. It is a much more complex robot with PID Subsystems and a fairly complex autonomous program.
The version posted has a typo in it, so after you create the sample, just delete the line with the error in it that says:
Subsystem.registerDefaultCommands();
then it will be identical to the code we used in the Kickoff Workshop talk.
Brad