Hi Amanda,
You've certainly come to the right place. Many of the participants of this forum are well versed in the "Tao of Programming"
You can help yourself, right away, by reading a few of the "sticky threads" right here at the top of the forum. They, in turn, contain links to many of the resources the rest of us routinely use. The Forum's white papers has a section devoted solely to pogramming. Many teams have shared their ideas and code, there. The IFI robotics website contains excellent downloads concerning the FRC code, and when it's time to get down and dirty, the Microchip site has a wealth of pic info.
The search tool is your friend. I use it often. And when you have a specific question that eludes you, please post it here, we are easy on newbies and love to help.
Eric