I did it, too. I used TinyOS and Intelmote2 and designed a interface board to integrate Intelmote2 devices with SRV-1 tank robots. nesC has some learning curve,

I did it, too. I used TinyOS and Intelmote2 and designed a interface board to integrate Intelmote2 devices with SRV-1 tank robots. nesC has some learning curve, but it was fun experience :)