I have discovered a circuit card in a lexmark printer accessory device that I would like to make into a robotics project.

Here are pictures of the board:
http://server3.pictiger.com/img/20913...010003.php

and showing motor, switches and cables attached:

http://server3.pictiger.com/img/20913...010004.php

It seems like a good fit, it has a motor controller (L6202), controlled by a PLD (F16v8bql), two mechnical switches, two power plugs one for the 5volt chips and one for the motor driver, two led sensors and a socketed AT89c55WD -24JC

This Lexmark device has two of these circuits, perfect for controlling two motors for a robot.
Of course it would be easier to start from scratch and a single controller processor, I am wanting to build the entire robot out of parts found in this Lexmark printer device. All parts from the Lexmark accesory, batteries not included.

I will need to map out the PLD logic, I hope to use it as is by working around its logic (I assume I can't clear it out)

I also assume the AT89c55 is locked, so I plan on replacing it. I'm not too familiar with this family of microcontrollers.
I don't have a programming device (but could build one) but understand that if I get an 's'series instead of a 'c' series I can program it directly through a serial port.
Can I drop replace an 's' series for a 'c' series? (possibly building a serial device to program it in)
Also can I drop replace a 'c' series 33J in the 24J socket, just running at a slower speed?