The firmware for the Antbot and Renegade boards can be found here. You will need the Propeller Tool from Parallax to upload it -- we'd rather provide you with the source code than with an EEPROM image.
Remember to replace pinout.spin with the appropriate pinout for your board revision! If you wired up your own board, use the pinout file as a template for your own.
This firmware does not currently use the ADC on the board.