Robot Basic works on a PC. It is capable of sending commands to a Stamp or Propeller over a serial (or parallel) link, but there's no ready-made software for the Stamp end or Propeller end to interpret the commands. You could certainly write a program in BoeBotBasic or Spin or any of the other programming languages for the Propeller to do this, but you'd have to do it yourself. BoeBotBasic can accept individual characters from the "console" port and can output individual characters to the "console" port (which can be a wireless link using an xBee).
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