[Chris Hibner]

The simplest way is to design your software units for test. What I mean is this: do NOT make any calls to the WPI library from within your unit. Make all calls to WPI library in a wrapper function.

For example:

void periodic_10ms_task(void)
{
    armAngle = WPI_readEncoder(ARM_ENCODER);
    armLimit = WPI_readDIO(ARM_LIMIT_SWITCH);

    armOutput = controlArm(armAngle, armLimit);

    WPI_setPWM(armOutput);
}

Before anyone complains: I don't really know what the WPI library function name are - the above names are made up (we use LabVIEW).

Now you can test you controlArm() function as a unit on a PC using MS VisualC++ Express.