The CBot compact disk that came in the Kit-of-Parts with MPLAB and the mcc18 compiler has a complete set of manuals appropriate for the compiler version 2.4 we use.
There are libraries and collections of code people have written for FIRST that will save you a lot of time. As well as copies of the C18 documents.
See Kevin Watson's site:
http://kevin.org/frc/
See Brad Miller's:
http://users.wpi.edu/~bamiller/WPILib/Versions.html
In the IFI Robot Controller we use in FIRST there are two processors: the Master and the User. We code the User processor, but the Master controls the User Processor for field functions such as Disabled, Hybrid, Teleoperated modes. While the source code that the Master processor is running is not released to the public, periodically binary updates to the Master code are released that we have to download in order to fix bugs or satisfy current playing field requirements.
--This question makes it appropriate for the Control System forum
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