Try looking at this site:
https://jvex-robotics.dev.java.net/VEXController.html
I believe the Vex controller and the FRC PIC are the same. Perhaps for project programming purposes the Vex would be the way to go. Anyone have any experience with this?
EDIT:
Actually the JCX is the part you should look at. I think the idea is if you want to use a Microchip controller, bet it Vex or FRC and you want to use Java, then you need to have a seperate processor to program Java to, and that feeds back to the microchip controller.
http://www.jcx.systronix.com/