Get to know these materials inside and out -
http://www.usfirst.org/community/frc....aspx?id=10934
(I must have pasted that link 1000 times this year... You really need to work through the 5 chapters sentence-by-sentence. It's painful but it's important and useful.)
and a really great new set of docs at
http://www2.usfirst.org/ftpdoc/coordination/ (actually accessible via Robot Quick Build Session materials link in the above site)
INVALUABLE!!
Good Luck!
Russ