MPLab simulator, ICD, ICE

Now that things have quieted down, we are looking toward next year. I did a search and found almost nothing about the simulaltor, ICD and ICE debugging features in MPLAB. Has anyone ever gotten any of these options to work in a FIRST environment? It sure would be nice to use a debugger instead of printfs all the time.

Do any of the ports on the RC interface with the ICD? I’m sure that the team leader wouldn’t like us opening up the RC and I’m not sure what, if anything, we could connect to it if we did.