After getting all excited about the possibilities of software subsumption, I have made a very basic simulator using Borland C++ Builder (ie for windows) V1. You can find it on my geocities site under the news section.
While I wasn't able to achieve everything as easily as I hoped, I think there is heaps of potential here, without necessarily totally exhausting my ability to comprehend what's going on. The hardest part can be the arbiter on the outputs - currently it is a winner takes all arbiter - if a more cooperative approach to resources is desired. So now I'm going to try to stick this into my robot on the weekend - this will be a bit of a challenge since I still have to write the driver for the IR ranger and rewrite the motor control code, but it's all getting pretty exciting now, so I guess I'll just have to forgo sleep.