Legality of Arduino Programming

[mkaa00x]

Okay so our mentor just bought a few of our team mates an ARDUINO UNO to experiment with over the summer, and I have gotten a sparkfun starter kit with 14 cool projects. I finished them all in one day and started experimenting with compatibility on an FRC robot. What I hope to do is create a separate java program with an external slider which works as an LED control, this will constantly send data to the robot's arduino telling it to change the LEDs to the desired color. I've only learnt one way of programming an arduino, which is C, and I'm not very good at it >.< It also is not a language supported by FRC therefor I would like to create a Java program for the arduino which can be complied and controlled by a soft potentiometer. So, is it legal, and if so, what plugins are needed and how to do it >.< please and thankyou ^_^ any help or advice is appreciated!