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Here you can find the source code, and a MLCad model of the robot.
MLCad Model
It's not perfect, and the actual robot has been a little refined since I made the model, but it gives you a good idea how the basic parts work and fit together.
C Source Code here (RCX, Robot and console versions)
There's no supporting documentation, but the code is fairly well commented so it should be fairly easy to understand.
Windows console executable
Play against the same algorithm that the robot uses. It's not the most exciting interface ever, but it helped during testing.
RCX standalone version to follow shortly
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Andy's LEGO® Mindstorms® Page
