The Object Oriented Mobile Robot Model (OOMRM) is a C++ library developed for the 68332 MRM microprocessor board.    It includes a simple mobile robot simulator executable on a host machine (Windows/Linux) eliminating the need for the 68332 board.  This allows programming of all robotic software without the hardware; when complete, the code is simply recompiled using  a 68332 cross-compiler and  downloaded into the 68332 board for evaluation.  The simulator thus far has proven to have fairly high  fidelity to the actual robot behavior.