%T JCSPre: the Robot Edition To Control LEGO NXT Robots
%A  Jon Kerridge,  Alex Panayotopoulos,  Patrick Lismore
%E Peter H. Welch,  S. Stepney,  F.A.C Polack,  Frederick R. M. Barnes,  Alistair A. McEwan,  G. S. Stiles,  Jan F. Broenink,  Adam T. Sampson
%B Communicating Process Architectures 2008
%X JCSPre is a highly reduced version of the JCSP
   (Communicating
Sequential Processes for Java) parallel
   programming environment.
JCSPre has been implemented on a
   LEGO Mindstorms NXT brick using
the LeJOS Java runtime
   environment. The LeJOS environment provides
an abstraction
   for the NXT Robot in terms of Sensors, Sensor Ports
and
   Motors, amongst others. In the implementation described
   these
abstractions have been converted into the equivalent
   active component
that is much easier to incorporate into a
   parallel robot controller.
Their use in a simple line
   following robot is described, thereby
demonstrating the ease
   with which robot controllers can be built
using parallel
   programming principles. As a further demonstration
we show
   how the line following robot controls a slave robot by
means
   of Bluetooth communications.