One of the first documents I send to students interested in Java for FRC was posted in this thread.
http://www.chiefdelphi.com/forums/showthread.php?t=85836&highlight=new+programming+m anual
v9 is the latest I think, posted on post #24 of that thread.
It's a bit out dated now, but is still a very nice introduction to a lot of aspects of programming FRC robots in Java.