I highly recommend following tutorials from FIRST on how to get started with programming in Java:
https://wpilib.screenstepslive.com/s/4485/m/13809
I would start with the following:
- Setting up the Development Environment
- Creating and Running Robot Programs
- FRC Java Basics
- Using actuators (motors, servos, and relays)
The other advice is good but I get the feeling you guys won't have the time to sit down and learn all the basics of Java. These guides should help you to get started and if you need help with anything, be sure to ask for help here detailing your problem. Feel free to message me directly as well if you would like.