http://www.emesystems.com/BS2speed.htm
That site lists the timing of the commands in pbasic for each chip.
The stamp inside the innovation FIRST controller is a STAMP BS2SX
so you can find the timings for that at that page. The "Homepage"
http://www.emesystems.com/BS2index.htm has some info that might be useful but its really geared towards ppl that buy the actual stamp and prototype with it.
I hope the page was helpful