You probably will not need to interface with any device that is not covered by the WPILib. If you want to get ahead I would focus on understanding WPILib and the classes/interfaces it exposes.
Link to the relevant documents (You might need to create an account):
http://firstforge.wpi.edu/sf/docman/..._documentation
Relevant Docs:
Quote:
2012 WPILib Cookbook
WPI Robotics Library Users Guide
C++ Getting Started Guide
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