[Team3266Spencer]

I know that there's a lot of sample material you can essentially cut and paste on with the Bluetooth connections (as it can be somewhat code intensive but fairly redundant). For the joystick you could use a library like Jinput.

Here's some simple code I rooted up from like 2 years ago. This was just an experiment to see how the Bluetooth worked. It allowed me to drive my robot with the WASD keys.

There is both computer (client) and robot (server) side code here:

ShooterClient.java

package control.client.shooterBot;

import java.awt.Container;
import java.awt.FlowLayout;
import java.awt.event.KeyEvent;
import java.awt.event.KeyListener;
import java.io.DataOutputStream;

import javax.swing.JFrame;
import javax.swing.JTextArea;
import javax.swing.JTextField;
import javax.swing.JTextPane;

import lejos.pc.comm.NXTConnector;

public class ShooterClient extends JFrame implements KeyListener {

	private static final long serialVersionUID = -1955110733792225783L;

	//COMMANDS
	public static final int 
		TURN_LEFT = 1,
		TURN_RIGHT = 2,
		FWD = 3,
		BWD = 4,
		SHOOT = 5,
		STOP = 6,
		STOPSHOOT = 7,
		TERMINATE = 99;
	
	//KEYBOARD INPUTS
	public static final int
		FORWARD = 87, //W
		BACKWARD = 83, //S
		LEFT = 65, //A
		RIGHT = 68, //D
		FIRE = 32, //SPACEBAR
		QUIT = 81; //Q
	
	boolean steerReleased = true;
	boolean driveReleased = true;
	
	NXTConnector bt;
	DataOutputStream out;
	
	JTextField text = new JTextField(15);
	
	public ShooterClient (String title) {
		
		super(title);
		
		this.setDefaultCloseOperation(EXIT_ON_CLOSE);
		this.setSize(500, 300);
		
		text.setEnabled(false);
		
		Container pane = this.getContentPane();
		pane.setLayout(new FlowLayout());
		pane.add(text);
		
		this.setVisible(true);
		
		bt = new NXTConnector();
		boolean connected = bt.connectTo("btspp://");
		
		if (!connected) {
			
			System.err.println("Failed to connect to NXT!");
			text.setText("Failed to connect to NXT!");
		} else {	
			out = new DataOutputStream(bt.getOutputStream());
			this.addKeyListener(this);
		}
	}
	
	public static void main(String[] args) {
		
		new ShooterClient("Enter Commands");
	}
	
	public void keyTyped(KeyEvent e) {
		
		;
	}
	
	public void keyPressed(KeyEvent e) {
		
		switch (e.getKeyCode()) {
			
			case FORWARD:
				if (driveReleased) {
					giveCmd(FWD);
					text.setText("Forward");
					driveReleased= false;
				}
				break;
			
			case BACKWARD:
				if (driveReleased) {
					giveCmd(BWD);
					text.setText("Backward");
					driveReleased= false;
				}
				break;
			
			case LEFT:
				if (steerReleased) {
					giveCmd(TURN_LEFT);
					text.setText("Left");
					steerReleased= false;
				}
				break;
			
			case RIGHT:
				if (steerReleased) {
					giveCmd(TURN_RIGHT);
					text.setText("Right");
					steerReleased= false;
				}
				break;
			
			case FIRE:
				giveCmd(SHOOT);
				text.setText("Shoot");
				break;
		}
	}
	
	public void keyReleased(KeyEvent e) {
		
		switch (e.getKeyCode()) {
			
			case FORWARD:	
			case BACKWARD:
				giveCmd(STOP);
				driveReleased= true;
				text.setText("Stopped");
				break;
				
			case LEFT:
			case RIGHT:
				giveCmd(STOP);
				steerReleased= true;
				text.setText("Stopped");
				break;
				
			case FIRE:
				giveCmd(STOPSHOOT);
				text.setText("Stopped Shooting");
				break;
				
			case QUIT:
				giveCmd(TERMINATE);
				text.setText("Quitting");
				System.exit(1);
				break;
		}
	}
	
	public void giveCmd(int cmd) {
		try {
			
			out.writeInt(cmd);
			out.flush();
		
		} catch (Exception e) {
			e.printStackTrace();
		}
		
	}
}

ShooterServer.java

package control.server.shooterBot;

import java.io.DataInputStream;

import lejos.nxt.Motor;
import lejos.nxt.Sound;
import lejos.nxt.comm.Bluetooth;
import lejos.nxt.comm.NXTConnection;
import lejos.robotics.navigation.DifferentialPilot;

public class ShooterServer {
	
	//COMMANDS
	public static final int
		LEFT = 1,
		RIGHT = 2,
		FWD = 3,
		BWD = 4,
		SHOOT = 5,
		STOP = 6,
		STOPSHOOT = 7,
		QUIT = 99;
	
	public static boolean
		isLeft = false,
		isRight = false,
		isFwd = false,
		isBwd = false;
	
	private static double radius = 0;
	private static double distance = 0;
	
	public static DifferentialPilot robot;
	
	public static WaitForThread WFT;
	
	public static void main(String[] args) {
		
		Motor.A.setSpeed(900);
		
		robot = new DifferentialPilot(3.8, 13.1, Motor.C, Motor.B, false);
		
		WFT = new WaitForThread();
		
		WFT.start();
		
		while(true) {
			
			System.out.println("Waiting for Connection...");
			NXTConnection bt = Bluetooth.waitForConnection();
			DataInputStream stream = bt.openDataInputStream();
			System.out.println("Connected");
			
			Sound.beepSequenceUp();
			
			int input = 0;
			
			do {
				try {
					
					input = stream.readInt();
					System.out.println("Command: "+input);
					
				} catch (Exception e) {
					;
				}
				
				giveCmd(input);
			} while(input != QUIT);
			
			try {
				
				stream.close();
				Thread.sleep(100);
				bt.close();
				
				Sound.beepSequence();
				
			} catch (Exception e) {
				e.printStackTrace();
			}
		}
	}

	private static void giveCmd(int cmd) {
		
		switch (cmd) {
		
			case LEFT:
				robot.rotateLeft();
				break;
				
			case RIGHT:
				robot.rotateRight();
				break;
				
			case FWD:
				robot.forward();
				break;
				
			case BWD:
				robot.backward();
				break;
				
			case SHOOT:
				Motor.A.forward();
				break;
				
			case STOP:
				robot.stop();
				break;
				
			case STOPSHOOT:
				Motor.A.stop();
				break;
		}
	}
}

WaitForThread.java

package control.server.shooterBot;
import lejos.nxt.SensorPort;
import lejos.nxt.TouchSensor;
import lejos.nxt.UltrasonicSensor;

public class WaitForThread extends Thread {
	
	public TouchSensor TS;
	public UltrasonicSensor US;
	
	public WaitForThread() {
		
		TS = new TouchSensor(SensorPort.S2);
		US = new UltrasonicSensor(SensorPort.S4);
	}
	
	public void run() {
		
		try {
			sleep(500);
		} catch (InterruptedException e) {
			
			e.printStackTrace();
		}
		
		while (true) {
			
			if (TS.isPressed()) break;
		}
		
		System.exit(1);
	}
}