I haven't had a chance to put together formal documentation, but there is a Windows applications and C code library that you can use to control the mini-RC from your PC. You can download a sample project and the windows program from
http://members.cox.net/seanwitte. The project is for the newest version of MPLAB so you might need to create a new workspace and manually add the .c, .h, .lkr, and .lib files to it.
Sample screen shots are in this
document.
The project is set up as a single-stick drive using PWM outputs 1 and 2. Joystick 1 in the PC interface is used as the drive input. If you download the hex file and connect to the RC from PCInterface you will need to check the Enable checkbox before it will run.
If you have an Analog Devices ADXRS150EB gyro connected to input 1 the sample program will integrate the signal and send the value back as analog feedback channel 1. In the program the value will be robot.heading, in the robot struct defined in robot.h. If you click the "Show Workspace" button you'll see a model of the robot rotating in realtime as you move the gyro.
Feel free to send a PM if you need help.