Yes, after looking at the complicated compiler used for FRC, I decided not to try too hard to learn C, especially because we were using LabVIEW, which I like.
But after looking at the Arduino programming environment, I was really surprised and delighted. It is very simple and easy.
Here are a couple great resources for programming Arduinos and Arduino in general:
Arduino 101 videos at Maker Shed (Check out the rest of the page too.)
Ladyada.net learning electronics with Arduino Some programming in there.
Arduino Programming Manual Great manual about the environment, how to program, and all the functions.