Here's the FRC wiring diagram:
http://www.team358.org/files/program...on_Diagram.pdf
We have some other IFI era info documented
here
An alternative to learning to program it yourself is to experiment with the Robot Controller you have and discover what the program already on it will do for you. Since it ran a robot at one time it'll probably still be setup with that original program.
If you find you need to write your own program:
- If you have the original MPLAB installation for FRC (compiler version 2.4) then the default code and FRC libraries linked to in earlier posts will work (the FRC libraries were compiled under version 2.4).
- If however you get the later version of the C compiler (version 3.4) now available online then you will need to start with the code from Kevin Watson's site and use the matching pre-compiled FRC libraries (version 3.x or 2.4 are available).
FIRST will continue searching for rules and procedures to keep us from hurting ourselves. However, none of this will substitute for judicious application of common sense. - Richard Wallace [more] 
Hybrid Mode
