In addition to the documentation here, there are a variety of other resources available to FRC teams to help understand the Control System and software.
Stuck? Have a question not answered by the documentation? Official Support is provided on these forums:
NI Phone Support
Have a LabVIEW, cRIO, or Driver Station question? NI provides phone support for FRC teams during the build season (1/5/12-2/19/12) Monday through Friday 1pm-7pm CST by calling 866-511-6285.
Found a bug? Let us know by reporting it on the WPILib Bug Tracker. Note that you will have to create a FIRSTForge account if you do not already have one, but you do not need to apply for project membership.