DARwIn-OP runs Ubuntu Linux. You connect a computer to it by a Ethernet cable. You then connect by a VNC client. Download the PDF below to see what we did during the Tuesday afternoon DARwIn-OP workshop class.
The Tuesday afternoon workshop class on the DARwIn-OP.
Below is a video that I took during the class. It is not great but will help you better understand how to program the DARwIn-OP.