That wasn't so hard.
I think that this code will be more useful to anyone who is trying to use the robobuilder for educational purposes. My goal is not to rewrite the official firmware, but to let programmers have access to the functionality of the RBC and the wCKs.
Code can be found here. It is in pre-pre-alpha mode at the moment, so use it at your own risk. You might want to read this before you test it out.
Robobob: Life of the party | Bear necessities | One step at a time | It's Alive!! | It was only a matter of time... | All work and no play | Two steps forward... | Computers 101 | Computers 102 | Computers 103