We're in the process of creating some videos that describe how to write command-based robot program. It is based on the GearsBot demo program that's one of the examples in Netbeans.
The tutorial consists of 6 videos, each one is 5-10 minutes where we write a fairly complex robot program from scratch. You'll see everything including some views of the robot operating.
http://www.youtube.com/user/bradamiller
It demonstrates creating a new project, creating subsystems, adding commands and connecting the commands to buttons on a gamepad attached to the driver station. It ends with a fairly challenging autonomous program that, as you'll see, is very easily written.
If we can do this in 1 hour in the video, without omitting anything, you should easily be able to write pretty cool robot programs yourself in 5-1/2 weeks!
Even though this is java code, the same thing will work in C++ with some slight renaming of methods and C++ syntax rather than java. We'll try to get to some C++ videos too.
Enjoy
Brad