programming as a whole is far to vast for anyone to tell you how to do it online, look at the white paper discussed in thi thread
http://www.chiefdelphi.com/forums/sh...threadid=31869 it is from last year but was very well written and extremely easy to follow. It does not go very deep into the inner workings of programming or using sensors but it will get you started. From there check out the programming section here and the C resource library at USFIRST.org, both are very helpful.
It is tough for any of us to write code for you the best way for you to get help is to post specifically what you want the robot to do.
An example of a poor explanation would be
" I want the robot to go forward to the other side of the field then turn a little and drive to the goal"
A good example would be
" I am using the KOP gear tooh sensors counting teeth on a 24 tooth sprocket and am using 8 inch wheels. My sensor is plugged into Anilog input 1 and I have a gyro using radians plugged into analog input 2. How can I make it go forward 10 feet stop then turn 90 degrees and then drive forward 10 more feet."
THe best way for you to learn and us to help you is for you to write code that you think should work then if you find out it doesnt post the code up here and tell us both what the code is doing and what you want it to do.
Being a programmer is one of the most difficult but also one of the most fun posistions on a team, good luck and enjoy,
James