Welcome. You have made a great choice in switching to python.
http://robotpy.readthedocs.org/en/la...ide/index.html
This is documentation for wpilib, python style. Most of what you are looking for is in here. For choosing a 'method' of robot programming, iterative is pretty straightforward, and if you are up to it go with sample robot. Stay away from command though.
If you have any more questions, just ask. Robotpy (the libraries for FRC python) has a freenode channel,
http://webchat.freenode.net/ #robotpy and 1418 programmers are generally on, and we're always glad to help.