Check
http://innovationfirst.com/FIRSTRobo...umentation.htm
Specifically " Mini RC 2004 Default Software Guide (10-15-2003) How the Default code works" and other refrences to "mini" and "edu", although I'm not sure that will completally help you.
I cant remember exactly how to do it, and dont have it installed on thsi comuter, but its something like compiling it in mplab and then loading the hex into the ifiloader.