About good places to learn basic Java programming I highly recommend
this. Its basically a computer science textbook that is really easy to read. Just pick out certain chapters that you think would be helpful and have the new programmers read them. Its really detailed but simple to understand.
Also something super simple and probably really obvious for learning FRC robot programming (even though things may change this upcoming season; don't fret I don't think the changes are too major):
1. look at the sample programs that First provides such as GearsBot
2. read through the comments in the template that you choose to use
3. Google for some other teams' code. Most teams have their code publically available on GitHub (our team does).