I would highly recommend Git, it keeps your entire history with the files and makes synchronizing with other computers really easy (and takes up
less disk space than a single SVN checkout, go figure that one out).
I wrote up a document on FRC-specific tasks using Git:
https://docs.google.com/View?id=dcz67k4q_42f7hzcwdg
Some parts might be out of date but anyone who wants to contribute, PM me so I can add you as an editor. Alternatively maybe someone wants to post it to FIRSTwiki.