Just take the Fort Wilderness bus. You can ask the bus driver to let you know when to get off for Hoop De Doo (theres a few stops at FW, if I recall correctly) and it'll let you off a very short walk from Pioneer Hall.
I don't believe there is a bus directly from AK to FW.
Take the bus to MK and then the boat from MK to FW. From the FW dock it is a short walk up to Pioneer Hall. If MK is closed after the show I remember reading that there are special buses that will run to the resorts.
Edited: I was thinking AKL. Yes take the bus from AK to FW.
The bus from AK to FW drops you off at the outpost (I believe). You then will have to take an internal bus to get to the Settlement where Pioneer Hall is.
The MGM bus is the only park bus that drops you off at the Settlement.