I have been trying to learn java for the last few months and have been learning how to build swing apps so I decided to try and build a remote control program for the nxt. I have used icommand to control my nxt from my computer but have no idea how to implement the right back end code for this program. This is what I need your help with. The original idea was for it to search for nxt's and then to connect to them in another window allowing multiple connections at the same time. Also by using this window you are meant to be able to control the robots motors and read values off sensors. The gui portion of the program is there in the bones but none of the communication code has been written so its just a shell. You can access the program by clicking on this link to access the Java Web Start app or this link to get the jar file.