XBC

Hacking the XBC Firmware: Programming the XBC in Standard C++

Hacking the XBC Firmware: Programming the XBC in Standard C++, Parts 1 and 2
Jeremy Rand and Fahrzin Hemmati
Norman High School and La Jolla High School
jeremy DOT rand AT ou DOT edu, fahhem AT berkeley DOT edu
Proceedings of the 2008 Global Conference on Educational Robotics at the University of Oklahoma.