I posted an application in the Programming White Papers that allows you to control the 2004 EDUBot. You will need to load the .hex file included in the setup package on the RC. It has four joystick inputs, currently mapped to the PWM inputs. It sends 10 bytes and two ints back to the PC which are displayed in a GUI.
I included the “user_routines.c” source file, which you can use to change the mappings. There are two structs defined, should be fairly easy to understand.
UPDATED ON 11/3. I fixed the timing issues, so the version downloaded from this link is the current release. I apologize if anyone got it last night, I jumped the gun a little when I posted it.
http://www.chiefdelphi.com/forums/papers.php?s=&action=single&paperid=232