any good ideas for a robot platform to control in clojure ?

my current wildest attempt in the field in general is to run robot logics off from an android phone and writing the high level software with java and having dedicated chips controlling robotic hardware instead (once with arduino and once with lego mindstorms)

at large android phone is an ok high level platform (quite low power, lots of built in hardware already in phones, separate power circuit with battery

but not having real clojure there makes me sad 😞

raspberry pi boards have a funny gpio layout (not a real pwm powerhouse, no adc), and no helpful chips on the board (acc / gyro, gps) so it doesn't really carry much extra value from my point of view 😞

any hints on nifty java capable arm (olinuxino boards maybe ?) or compact x86 based solutions are welcome 🙂