This is my first completed LeJOS project. I did it over summer but only just got around to sharing it now.
It's a table mapping and grid navigating 'system' for the NXT, requiring the light sensor only for the mapping stage, then using the tacho count of the motors for navigation and remaining on the table
I wrote a blog post on it which contains more info; http://westcoastlabs.blogspot.com/2012/12/lego-nxt-lejos-table-mapping-navigation.html
Git Repo; https://github.com/philleonard/LeJOS-NXT-Mindstorm-Navigation.git
Your thoughts and feedback would be awesome!