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There is quite literally no differences between programming the mini-RC and the big-RC--just make sure you flip the switch from "tether" to "program."
Anyway, the PWM outputs have a fourth pin for power, but from a software standpoint are no different than regular DC motors.
The only new things are the addition of autonomous mode and user mode. Under autonomous mode (accessed by setting your team number to 0), the OI only sends 127 (for analogs) and 0(for switches) to the RC. Whether are not you are in this mode can be determined from one of the bits of comp_mode, but I can't remember which--just check the documentation.
You enter user_mode when the OI is set to display user data (by pressing the select button repeatedly). In this mode, out8-out15 each correspond to a bit of the value that is displayed on the OI instead of corresponding to LEDs.
There's also an "oscillator" output, but I don't really know what it does or what types of devices could be hooked up to it. Any electrical people want to shed some light on this?
--Rob
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