They aren't specifically on the 2009 or 2010 seasons, but as far as books on FRC go, the
FIRST Robotics: Behind The Design books from 2006 and 2007 are probably the most FRC-specific books out there.
Another book that's been very helpful to me in my journey through FRC is
Kickin' Bot by Grant Imahara. While geared towards combat robots, lots of information within this book is quite valuable.
The internet provides a wealth of information, and you've come to the right place for it! Search through CD media and whitepapers, for past robot designs and drawings, and papers about everything from hardcore technical design, to design processes, to team spirit. And, look over past FRC manuals, particularly the documentation provided about the control system.