Welcome to FRC!
WPILIB ScreenStepsLive is the definitive FRC programming tutorial.
If you have experience with Java, I would personally recommend using that. Changing IDEs is a lot easier than changing languages. I've also seen some people using IntelliJ and Gradle to do robot code.
If you know Python (or don't, it's easy to learn!), that's also an option, using
robotpy.