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Not even sure if you would want to use a PC in the scheme shown since you would have the delay of the wireless interface.
A better bet would be to offload some computation to a second microprocessor through the programming port, similar to what allot of teams did this year for positional data. Search for interfacing to second micro.
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Robonaut Next Generation Control System Development
2003 GLR Champions (302,67,226)
2003 Buckeye Semi-Finalists(902,494,226)
2002 Nationals QuarterFinalists
2001 West MI QuarterFinalists
2000 GLR Semi-Finalists
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