I'm not sure why nothing moves.
You haven't provided any error messages, so it makes things a little difficult to debug.
One thing I did notice is that you have motor safety enabled. While that might sounds like a good thing to do, you should probably understand what it means. Since the javadocs are pretty much useless in this case, i'll describe it for you.
Wen motor safety is enabled on robot drive. The drive object must be updated faster than every tenth of a second otherwise the MotorSafety class considers your program to be having problems, and it stops outputs to the motors.
This is most certainly not how you want your motors to work if you're going to have code on your robot that delays for seconds at a time. It could be contributing to your "nothing is happening" problem. Since your loop will take more than 0.1 seconds to complete (you have code to execute plus a wait of 0.1s in the operator control method).
Just taking that out may not solve your problem, but it could be one of many things wrong with the code. If it were the only problem I would expect on enabling the robot that the arcadeDrive() call before the while loop would cause the robot to move momentarily at least for a tenth of a second. I would recommend taking setSafetyEnabled out of your code, at least until you know the rest of your code works.
Also, this is a good example of why it's important to test your code as you are developing, it helps you localize problems in the code. Right now you have a completely untested set of code, so you can't be confident that certain areas of it work reliably or as expected. Cut your program down to the simplest it can be (comment large blocks out) until you get something that works, then slowly add things in until it breaks, fix the problems, then continue on to adding more stuff until you've tested it all. Trying to tackle it all at once is (as you have experienced) unmanageable.
[edit]
To answer your question on command based tutorials. I would start with the links I posted in my original response. Those are the materials developed for the 2013 season.
There is also a
comprehensive PDF from the 2012 season here. This is what I learned from.
There's a
summary with some links to materials which I wrote up for the purposes of teaching my team.
And I saw a bunch of youtube videos, but haven't watched them so can't say if they are good or not.