Examples of simulated robot programs written in SIL are given here. Programs and equipment needed to start SIL programming of PIC processors. The list of programs is only one of many alternatives. Assembler for PIC processors that accepts Microchip mnemonics. Alternatively a ready built programmer may be used.
Many alternatives are available.
A Linux driver for the Ludipipo programmer i found here. The construction of the test circuit is shown in the picture below. Body of ext. The result is a file that is burned into the processor using your programmer circuits control program. Program the pic16c84.