Not to stamp on linuxguys work, but for those not blessed with /the/forward/slash/world/of/free/code…
I have VB 6 and VB 2005.NET code examples of implementing the roborealm API.
They are very basic and would need to be modded to suit your local drives and comm ports but anyone who wants them is welcome.
If anyone knows of a free file host I can post them for them or email them if you PM me and email addy