Most researchers develop real-time applications with C, including programming hardware with C and using a Real Time Operating System (RTOS) that is written in C to manage the task environment. In this paper, we research a different approach by using Java to develop a real-time application. We implement an example real-time project, onboard computation of a coaxial helicopter Lama, with a Java based Sun SPOT to control the hardware and a Java RTOS (JARTOS) running on top of the Sun SPOT to manage the processes. This project enables us to answer several questions regarding to real-time system development with the Sun SPOT. At last, we conclude this paper with the experience we gather during the development.
This conference paper was originally published as Li, C, McKerrow, PJ and Lu, Q, Developing Real-time Applications with Java Based Sun SPOT, in Proceedings of the 2008 Australasian Conference on Robotics & Automation, Canberra, 3-5 December 2008.