Plenty of NXT development news this weekend.

If Java programming is your fancy, you’ll be thrilled to hear that Brian Bagnall’s iCommand v0.4 is now available. iCommand allows you to control your LEGO Mindstorms NXT with Java over a Bluetooth connection. No custom firmware required. Best of all, it works with Windows, Macintosh, and Linux systems. It’s all very well documented, too.

New features include:
- Full Windows support and preliminary setup instructions for Mac OSX and Linux.
- I2CSensor and UltrasonicSensor support.
- Changed API so it duplicates architecture of leJOS API (static calls).
- iCommand now reads the COM port using the environment variable NXTCOMM.
- Fixed bug in Motor.stop() so it now stops dead instead of floating.
- Added an NXT class with methods for brick name, running Lego executables, checking versions, checking memory.
- Added a (bad looking) GUI app called NXTDirect for controlling motors and sensors in the samples directory.

Download this archive for API documentation, samples, and instructions. Thanks for the forum post, Brian!