To get more people involved with programming robots from their personal computer , FIRST must have a robot simulator. Microsoft Robotics Studio or Player/Stage are easy to interface if you have a x86 controller for a robot (or another commonly used micro-architecture). I think teams should have the option to include an RTOS controller. The development can actually start as a plug-in to the existing IFI Robot Controller. AdamBots FRC#245 has put together a great guide to integrating a
Co-processor to your FIRST robot.