How can I be an effective programming leader?

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If he really doesn't understand the language, it may be helpful to take a few days off and really teach him the basics of the language. It may put you behind now, but later on you'll be able to work faster because you won't have to help him, or help him as much.

You could even just write code for the robot, then explain it to him as you go. Then you're teaching him and getting your job done at the same time.

Try to be friends with him, its okay to joke around sometimes. Treat him as an equal, and he might feel more important and more motivated to do the work.