leJOS NXJ

iCommand is no longer needed. PC control is now included in pccomm.jar and the lejos.nxt.remote package. RS485 support in lejos.nxt.comm. Support for RFID, RCX Rotation Sensor, and EOPD. Much more extensive support for Java 1.6 classes (including ArrayList). Support for Generics, Enum classes, and foreach loops. A fully working lejos.subsumption package. An NXJControl utility for quick control of motors and sensors. Wider support in the lejos.navigation packages. javax.microedition.location for Bluetooth GPS.

This version includes a full suite of graphical
widgets in the java.microedition.lcdui package, a
multi-level menu system, wireless NXT to NXT
communications using Bluetooth, primitive wav file
sound support, and many more smaller enhancements.

leJOS NXJ is a full replacement firmware JVM that
allows you to run Java programs on the LEGO
Mindstorms NXT brick. leJOS NXJ works with
Windows, Linux, and Mac OS X. Version 0.3 includes
a flash file system with implementations of
java.io.File, FileInputStream, and
FileOutputStream, a menu system, Java streams over
Bluetooth and USB, support for LCP (LEGO
Communication Protocol) including file commands, a
file explorer that runs on your PC, and much more.

There are plenty of new features in this release, including a Vision API for Lego Vision Command, 100% Java versions of the lejos tools, USB support for Linux, exhanced USB Mac OS X support (including josx.rcxcomm), a new remote control package, and more.

New features include more available memory without
motor twitching, USB Mac OS X support, faster Math
functions, and a vastly improved communications
package. Now you can communicate with multiple
RCXs, use a variety of protocols (including LNP),
and even serve Web pages directly from your RCX.