The 6-pin header you are referring to is not an ICSP header although I can see why you would call it that.
To use that you have to unplug the cable you use for programming and plug another cable in that connects to the Robot.
Alternatively use software serial to communicate using some of the other pins.
Does your robot have serial? Is it 5v or true RS-232? What bit rates can it talk?
Once you work all that out you have to design a serial protocol that allows the robot to send the analogue data to the...aw heck there's so many Arduinos/robots/robotinos/arduino pros floating around I don't know what's supposed to talk to what.
Please spell things out clearly and use the same term for the same thing, if the Arduino pro is on the robot don't say "robot" in one paragraph, "robotino" in another and "arduino pro's analogue input" in another.
Better still make a drawing.
Rob