I think this is exactly what you want:
http://www.chiefdelphi.com/forums/sh...ad.php?t=80900
The solution essentially involves running a webserver on the robot and using proxy objects in your code that can both report their state to any web browser, and also take changes to those values back from user input to the
browser.
I have been using Dustin's code since last year to tune PID loops, and it works like a charm! Highly recommended.