It's been a long time since our last release, but here at last is the next version of iCommand. This software allows you to control your LEGO NXT brick using Java from your computer, via a Bluetooth connection. In short, the new version has a similar interface to leJOS NXJ and you can use iCommand with either the LEGO firmware or the NXJ firmware. See the release notes for details.
iCommand allows you to control a Lego NXT robot using Java over a Bluetooth connection. iCommand 0.5 is ready for download. New features include webcam robotics, compass support, synchronized motors, convenient sensor wrappers, and the ultrasonic sensor can now return multiple pings like radar.