some time ago I wrote a simple control library (called "Robust") for
Lego Mindstorms NXT.
Recently I wrote a Clojure wrapper to the Robust library so that it is
possible to write simple control applications for standard Mindstorms'
vehicles directly in Clojure.
The Robust library together with Clojure interface (cljRobust) can be
found at
http://sourceforge.net/projects/robust/
enjoy,
Konrad Kulakowski