this, but only use dedicated sensors to perceive.

Refer to appendix \[app:extensions\] for a description on how to use the motors in *Jason*.

LeJOS JVM
=========

The LeJOS JVM is a tiny Java Virtual Machine, which has been ported to the Lego NXT Brick [@lejossite]. Because of the limits of the hardware of an NXT brick, the LeJOS JVM is only a subset of standard Java. It does contain many of the standard Java types and classes (lists, input/output support amongst others), but some classes are not included.

The really useful parts of the LeJOS JVM are the classes giving access to the sensors and motors included with an NXT brick. The motors and each of the standard sensors can be controlled using these classes. The functionality of these classes is what the extension of *Jason* should utilize to control the robots.

Since *Jason* is not going to be compiled and installed on each brick[^2], the two systems should communicate in order to give orders and send percepts. LeJOS includes an API for communicating between a computer and a brick with LeJOS installed, using either bluetooth or USB.

Since applications are excecuted on the brick, the debugging possibilities are quite 