I've put up a copy of WPILib if anyone is interested in playing with it.
WPIlib is a library that was originally developed for some high school robotics courses that I taught a few years ago using the EDU/Robovation controller to make life a little easier. Since then it has been ported to the FRC controller for 2006 and the 2004-05 controllers.
It is the base runtime system used by EasyC for FRC. If you would like the ease of use that EasyC has, but want to use MPLab or Eclipse as the development environment, you might give it a try.
I posted it on my web site
at WPI along with a page of examples. For each of the examples there is an MPLab project that is also downloadable.
The whole thing should be installed in C:WPILib for the links in the examples to work and I would suggest doing that anyway so that if the library is updated, it can be replaced in one place and all projects that point to it will get the new version.
It includes support for all the kit sensors including the camera, gyro, accelerometer, and gear tooth sensor. It also supports the Daventech/Radio Shack ultrasonic rangefinders, and the Daventech digital compass.
There is a substantial document that describes how to use it and how it works also on the web site - although due to some bug in acrobat or the thing that created it, you have to download the file first then view it locally.
There are currently versions of the library for 2004-2006 FRC controllers. The documentation talks about VEX, but in the scramble to get it working, the VEX/Robovation code didn't get updated. Eventually I'll put up versions that support those controllers.