A ZigBee compliant wireless controller which manages multiple tasks, such as acquiring data from sensors and driving actuators, has been purposely developed for robotic capsular endoscopy applications. Preemptive priority pseudokernel, consisting of state-driven code, coroutine, and pooled-loop algorithm, has been implemented to perform hard, firm and soft real time applications. All the components have been placed on a miniaturized board ready to be integrated in a robotic capsule (max volume of 2cm3).