<s>
leJOS	B-Language
is	O
a	O
firmware	B-Application
replacement	O
for	O
Lego	B-Application
Mindstorms	I-Application
programmable	O
bricks	O
.	O
</s>
<s>
Different	O
variants	O
of	O
the	O
software	O
support	O
the	O
original	O
Robotics	O
Invention	O
System	O
,	O
the	O
NXT	B-Application
,	O
and	O
the	O
EV3	B-Application
.	O
</s>
<s>
It	O
includes	O
a	O
Java	B-Language
virtual	I-Language
machine	I-Language
,	O
which	O
allows	O
Lego	B-Application
Mindstorms	I-Application
robots	O
to	O
be	O
programmed	O
in	O
the	O
Java	B-Language
programming	I-Language
language	I-Language
.	O
</s>
<s>
It	O
also	O
includes	O
'	O
iCommand.jar	O
'	O
which	O
allows	O
you	O
to	O
communicate	O
via	O
bluetooth	B-Protocol
with	O
the	O
original	O
firmware	B-Application
of	O
the	O
Mindstorm	O
.	O
</s>
<s>
It	O
is	O
often	O
used	O
for	O
teaching	O
Java	B-Language
to	O
first-year	O
computer	B-General_Concept
science	I-General_Concept
students	O
.	O
</s>
<s>
The	O
leJOS-based	O
robot	O
Jitter	O
flew	O
around	O
on	O
the	O
International	O
Space	O
Station	O
in	O
December	O
2001	O
.	O
</s>
<s>
In	O
English	O
,	O
the	O
word	O
is	O
similar	O
to	O
Legos	B-Operating_System
,	O
except	O
there	O
is	O
a	O
J	O
for	O
Java	B-Language
,	O
so	O
the	O
correct	O
pronunciation	O
would	O
be	O
Ley-J-oss	O
.	O
</s>
<s>
If	O
you	O
are	O
brave	O
and	O
want	O
to	O
pronounce	O
the	O
name	O
in	O
Spanish	O
,	O
there	O
is	O
a	O
word	O
"	O
lejos	B-Language
"	O
which	O
means	O
far	O
,	O
and	O
it	O
is	O
pronounced	O
Lay-hoss	O
.	O
</s>
<s>
acronym	O
for	O
Java	B-Language
Operating	O
System	O
(	O
JOS	O
)	O
,	O
</s>
<s>
the	O
Spanish	O
word	O
"	O
lejos.	O
"	O
</s>
<s>
leJOS	B-Language
was	O
originally	O
conceived	O
as	O
TinyVM	B-Language
and	O
developed	O
by	O
José	O
Solórzano	O
in	O
late	O
1999	O
.	O
</s>
<s>
It	O
started	O
out	O
as	O
a	O
hobby	O
open	B-Application
source	I-Application
project	O
,	O
which	O
he	O
later	O
forked	O
into	O
what	O
is	O
known	O
today	O
as	O
leJOS	B-Language
.	O
</s>
<s>
As	O
of	O
August	O
20	O
,	O
2006	O
,	O
the	O
original	O
leJOS	B-Language
for	O
the	O
RCX	O
has	O
been	O
discontinued	O
with	O
the	O
3.0	O
release	O
.	O
</s>
<s>
Soon	O
afterwards	O
,	O
iCommand	O
,	O
a	O
library	O
to	O
control	O
the	O
NXT	B-Application
from	O
a	O
Bluetooth-enabled	O
computer	O
via	O
LCP	O
,	O
was	O
released	O
.	O
</s>
<s>
This	O
library	O
made	O
use	O
of	O
the	O
standard	O
Lego	O
firmware	B-Application
.	O
</s>
<s>
This	O
library	O
was	O
later	O
superseded	O
by	O
leJOS	B-Language
NXJ	O
0.8	O
.	O
</s>
<s>
In	O
January	O
2007	O
,	O
a	O
full	O
port	O
to	O
the	O
new	O
Lego	B-Application
Mindstorms	I-Application
NXT	I-Application
was	O
released	O
as	O
a	O
firmware	B-Application
replacement	O
.	O
</s>
<s>
This	O
is	O
far	O
faster	O
(	O
x15	O
or	O
so	O
)	O
than	O
the	O
RCX	O
version	O
,	O
has	O
more	O
memory	O
available	O
,	O
a	O
menu	O
system	O
,	O
Bluetooth	B-Protocol
support	O
using	O
the	O
Bluecove	O
library	O
,	O
and	O
allows	O
access	O
to	O
many	O
other	O
NXT	B-Application
features	O
.	O
</s>
<s>
In	O
addition	O
to	O
numerous	O
improvements	O
to	O
the	O
core	O
classes	O
,	O
the	O
Eclipse	B-Application
plugin	O
was	O
released	O
along	O
with	O
a	O
new	O
version	O
of	O
the	O
tutorial	O
.	O
</s>
<s>
Broadly	O
speaking	O
,	O
the	O
releases	O
have	O
concentrated	O
on	O
improvements	O
to	O
navigation	O
algorithms	O
,	O
as	O
well	O
as	O
support	O
for	O
numerous	O
3rd	O
party	O
sensors	O
and	O
the	O
Eclipse	B-Application
plug-in	O
.	O
</s>
<s>
In	O
2013	O
,	O
development	O
began	O
on	O
a	O
port	O
to	O
the	O
Lego	B-Application
Mindstorms	I-Application
EV3	I-Application
brick	O
.	O
</s>
<s>
Since	O
November	O
2014	O
leJOS	B-Language
is	O
used	O
in	O
a	O
slightly	O
adapted	O
version	O
also	O
in	O
the	O
open-source	B-Application
project	O
Open	O
Roberta	O
.	O
</s>
<s>
leJOS	B-Language
NXJ	O
provides	O
support	O
for	O
access	O
to	O
the	O
robot	O
's	O
I²C	O
ports	O
.	O
</s>
<s>
leJOS	B-Language
NXJ	O
includes	O
Java	B-Language
APIs	B-Application
for	O
these	O
products	O
.	O
</s>
<s>
By	O
taking	O
advantage	O
of	O
the	O
object-oriented	B-Language
structure	O
of	O
Java	B-Language
,	O
the	O
developers	O
of	O
LeJOS	B-Language
NXJ	O
have	O
been	O
able	O
to	O
hide	O
the	O
implementation	O
details	O
of	O
sensors	O
and	O
actuators	O
behind	O
multiple	O
interfaces	O
.	O
</s>
<s>
leJOS	B-Language
NXJ	O
also	O
provides	O
libraries	O
that	O
support	O
more	O
abstract	O
functions	O
such	O
as	O
navigation	O
,	O
mapping	O
and	O
behavior	O
based	O
robotics	O
.	O
</s>
<s>
Here	O
is	O
a	O
simple	O
leJOS	B-Language
program	O
:	O
</s>
<s>
Since	O
the	O
first	O
alpha	O
release	O
of	O
leJOS	B-Language
NXJ	O
in	O
2007	O
,	O
the	O
project	O
has	O
had	O
a	O
consistently	O
active	O
following	O
.	O
</s>
<s>
As	O
leJOS	B-Language
NXJ	O
is	O
a	O
Java	B-Language
project	O
,	O
it	O
builds	O
on	O
the	O
wealth	O
of	O
functionality	O
inherent	O
in	O
the	O
Java	B-Language
platform	O
.	O
</s>
<s>
There	O
are	O
leJOS	B-Language
NXJ	O
plugins	O
for	O
the	O
two	O
leading	O
Java	B-Language
IDEs	O
:	O
Eclipse	B-Application
and	O
NetBeans	B-Application
.	O
</s>
<s>
Robotics	O
developers	O
can	O
take	O
advantage	O
of	O
the	O
standard	O
functionality	O
of	O
an	O
IDE	B-Application
(	O
code	O
completion	O
,	O
refactoring	O
and	O
testing	O
frameworks	O
)	O
as	O
well	O
as	O
point-and-click	O
implementation	O
of	O
NXJ	O
functions	O
:	O
compiling	O
,	O
linking	O
and	O
uploading	O
.	O
</s>
<s>
A	O
wealth	O
of	O
java	B-Language
open	B-Application
source	I-Application
projects	O
(	O
such	O
as	O
Apache	O
Math	O
)	O
are	O
likewise	O
available	O
to	O
the	O
NXJ	O
robotics	O
developer	O
.	O
</s>
