If you just want to be able to supply some inputs to the robot controller you can use the application available for download here:
members.cox.net/seanwitte. The RC must be connected to the PC via a serial cable, but its good for basic testing. The UI has four "virtual" joysticks and 8 switch inputs and received 8 bytes, 16 bits, and 6 ints of feedback from the RC. You can also capture and plot up to ten of the channels.