I stumbled across this project:
It's a cross-platform library for interfacing with the RMP. It works with older RMPs, but I'm not sure if it works with newer Centralized Controller models.
Also, here's the link to William Woodall's blog post about the project:
http://williamjwoodall.com/2011/06/21/m ... segwayrmp/
RMP 50, 50XL, 100, 200, 400
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