The main idea is to make a java library that can be used by anyone in any project that requires high processing of data, and hardware inputs/outputs. This way some micro controller like Atmega or PIC (i’m working with Arduino(Atmega168)) can make a buffered interface, supporting some kind of intelligence, to avoid the robot to fall or stay acting when a high priority exception happens, but mainly sends and receives information from some device running Java, like a computer, or a PDA (via bluetooth) or cellphone (bluetooth) or some other java running devices. This opens a new door to processing capabilities, letting a high speed processing or information, storage data, and even interfacing over the Internet with the device, with all benefices of Object Oriented Languages, and multitasking, multiprocessor. The big point here is the flexibility, where we can make it run all kind of protocols over the hardware creating this hardware layer, codification the serial data to the micro, we can set some bits to the read/write process, others to the protocol (direct pin, I2C, 1-Wire, and much more), some other bits to priority of task, and then send the data to micro processor.
The processor will store this info in a buffer, like a priority queue, and will process info as have time to, and as priority’s. For example, check the robot tilt is priority to IR distance, and IR distance is priority to digital compass. but correct a servo position is priority to all the other tasks, because this one can be vital to the robot don’t fall.
With this interface, changing code, and adding new devices will be easiest then ever, just put the device in the right pin, or in the communications bus, and create a new object in java, implementing the library. Then just code it, and its done. To remove a device, just stop using it in code, without the need to remove it from the real machine, or even reprogram the microprocessor, because it will work like a layer, as all the time. So once the firmware in the micro is programmed, all the changes are part of the java code only.

I’m working on the project, and as i don’t have to much to show now, i will just attach a foto of one of my simplest arduino robots, just because it have the Arduino, not directly connected with the project. But can easy be programmed by this project :D