Firstly, why do you want to program it on your main computer? And how would you simply 'send it over?' I think it's much easier to just program right on the Pi, to greatly simplify debuging.
How I do it (not sure if this is 'normal' so to speak) is to log in as Root and then just write it in Idle. If you've never used the Root user before, see here: http://elinux.org/R-Pi_Troubleshooting# ... t_password
- Either SSH & VNC into the Pi, or use a screen and keyboard.
- Log in as Root and enter the password
- Click the 'menu' button on the bottom left
- Select `Run`
- Program as usual
The only reason you can't just do it in the normal user is that the GPIO stuff needs root access, but doing what I describes work perfectly.