Is there a way to connect my Pandorabot to a Discord server to play with in the chat there?

I don’t use Pandorabot but if you can download the aiml files then use with Program-O and you can use Program-O api.

Otherwise you can use Pandorabot api: https://developer.pandorabots.com/docs
And on discord you can use the Message event or if you want put into a command. I put in Message event and specified to a discord channel.