I recently created a 3 part video tutorial series on YouTube last summer.
Episode 1: Gentle Introduction & Installation
Episode 2: Drivetrain & Tele-op Joystick Control
Episode 3: Autonomous Trajectory & Path Planning
This series is intended to go over the very basics of WPILib 2022 (most things should stay the same for 2023) and how to use the command-based robot framework to get a basic tank drive robot driving in tele-op and following paths autonomously.
I hope this will be helpful for teams that have no programming mentors since I was in the same boat last season. It was tough to start with programming since I was not sure where to start or what questions to ask; I hope these tutorials can make FRC programming seem less daunting. I know the tutorials are not perfect, so please leave constructive feedback below.
You can view the playlist here.