Programming the board can be done in the ROBOTIS OpenCM software. This IDE is based off the Arduino IDE, so any Arduino users should be right at home.
This is a Pre Built robot that utilizes 4 omni omni-wheels to vector it in any direction. By changing the speeds and directions of the motors the robot can drive in any direction without needing to turn.
Use these roll pins to fix sprockets to a shaft and keep them locked in place.