Programming Manuel

Does anyone know how our team can obtain a programming manual beyond simple program behaviors? A manual that explains what and how to use program flows, variables, motor commands, remote control tele-op set up and much more. There are so many commands I do not know how to use and this prevents me from advancing my students from beginner-intermediate to the intermediate-advanced level. I would love to bring them to a higher level of learning. Self-teaching is very time consuming plus I never have real confirmation that the programming language is even correct.