The PCM communicates over CAN. How were you planning on controlling it?
PCM wiring is in this doc:
http://wpilib.screenstepslive.com/s/...control-system
Firmware update is here:
http://wpilib.screenstepslive.com/s/...ribution-panel
Code depends on language.
The rules also require the PDP CAN to be attached to the roboRIO.