If you already have some programming expierience in other languages (so that you know the lingo, how programming works, etc.), best way to learn pbasic is to read what the robot controller does first, then pull up the default code from
www.innovationfirst.com , and go through it line by line to learn how it works. The manual just contains tons of stuff you don't need to know and just confuse you and/or waste your time.