Unfortunately, no. I was thinking about writing one, but then got distracted with some other projects.
The problem is that you don't need a program like this for PBASIC. What you need is a program for the Isaac32. And it has to be for the revision that supports autonomy, which was just released today.
One thing I can reccomend: I have written a program generator for use with the control system. It doesn't do autonomous mode (yet!), but it does just about everything else. Anyway, it's available at my website:
http://www.robbayer.com/software.html (look for RoboGUI).