Download: http://code.magabot.cc/magabot-arduino-library/overview

On the examples you can find the base code we use. 

Magabot();

void actuateMotors(int vel1, int vel2);
void actuateLEDs(int Red, int Green, int Blue);
void readBattery();
void readSonars();
void changeSonarAddress(char oldAddress, char newAddress);
void readIR();
void readBumpers();
void readClicks();
void update();

int irMaxValue;

bool irState[3];
int irRead[3];
bool bumperRead[2];
int sonarRead[6];
int batteryRead;