[Sconrad]

edu.wpi.first.wpilibj.DriverStationLCD seemed to fit your description of what you are trying to do. There is a function called println that takes as an input the line (6 are available) and the string you want printed. That is for the driver station. Printing to the dashboard most likely uses a different function.

NOTE: I am not an FRC Java programmer. My team programs in LabVIEW. I based this answer off of stuff I found via Google and general knowledge about FRC Programming. Hope it helps!