Haven't found any FIRST resources but we have been referring to this paper:
http://www.scipub.org/fulltext/ajas/ajas351831-1835.pdf
In addition we set up a simple PC simulator that allows us to take PC joystick, pass them through a modified Holonomic Drive algorithm and output respective PWMs on each wheel's channel. Theres a diagram in the paper above that shows how wheel speeds and directions cause different vehicle reactions. Very very handy.