I only recently found time to work with my 3pi and was delighted to have my first program successfully downloaded, using the PGM02A USB programmer. I noticed, however, that the 3pi jerks each time the programmer sends an inquiry (e.g. read fuses). Although your documentation suggests that the firmware on the 02A cannot be updated via the mechanism designed for the 02B, there is a programming header on the 02A board. Is it possible to update the firmware for the 02A using a temporary connection to this header, i.e. "press fit"? If so, can you supply a suitable hex file?
Are there any other known problems using the 02A, for example excess current draw as noted for the 02B?
Shortly I'll post a very simple charger circuit, where the 3pi monitors and controls the charging of its own NiMH battery supply.