[Doug G]

Have you searched the papers in CD-Media? There are some good resources there!! Do you have a copy of MPLAB? My next suggestion is start with the basic user code and read its comments. It is very well commented (although I feel maybe too much is there for starting out) and learn how to modify some of the variables within it. Better yet, have the robot there with you. Tweak the basic code so it does something different like have it drive forward when you move the joystick to the left or have it spin around when you press a joystick button. Dedicate some time to experiment with the code and get used to syntax, declarations, and write a function or two!