Camille Troillard has created a free library that lets you use the Percussa AudioCubes with your own programs.

The library is written in C and is available for Mac OS X and Windows.  The goal is to make a library that is robust, easy to learn, and that covers most the functionalities the cubes are offering.  

The libcube library is available right now and includes two detailed examples of how to use it.

Details here.