I have found that my students who use the VEX controller (yeah, it's hardware, not exactly the solution you're looking for) find migrating their code to the RC is pretty easy.
On the other hand,
something suitable may be coming for the future.
I say that with some hesitancy, due to
this thread, and do not want to drag this off track into a discussion of what next year's RC might include. It merely seems -- based on the description of MS Robotics Studio -- like the technology would be capable of supporting excellent software prototyping if the FRC components and control system were appropriately modelled in it.
Jason