Welcome to FIRST! The rookie year is always an adventure, don't be afraid to ask for help from any teams near by.
It is very possible to run a succesful build and competition season with 2,000 dollars, however I think it would be beneficial to raise additinal funds for team shirts, buttons, giveaways, and printing fees for info packets to give out to judges; other teams; and local buisnesses etc.
check out this
'Fundraising 101' post for a really good list of fundraising ideas.