I find that the gearsbot and pacbot examples are pretty good full examples of programming C++ with the first libraries. They are in the same place as the other examples, but under the "command based robot" examples.
After reading the introduction to the command based programming docs (url below) you can see the general development flow and layout of a working robot. If you feel that the command based approach isn't for you, the link that chloe provided heads to the same page, but the more generalized documentation for things such as iterative and simple robot based projects.
https://wpilib.screenstepslive.com/s...ed-programming