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The GRT Framework is a system that allows for high level, event-driven development of robot controls though abstractions of hardware and a friendly API, while managing the continuous operation and availability of robot components.
Updated to V3 Support for CAN-Jaguar interface added, along with full AxisCamera support.
For developers this means that robot code can be developed in modules for specific mechanisms(eg a robotic arm), and then can be controlled using modular, mechanism-specific controllers--which contain logic. Further, the framework's event model allows robot code to respond to circumstances as they change--if a switch is pressed you can respond to it immediately.
The GRT Framework is implemented in Java for the Squawk embedded JVM(https://squawk.dev.java.net/), and uses WPI's WPILibJ for the FIRST Robotics Competition.