Galileo was maligned and abused by those that were of the opinion that the Bible favored geocentrism. He writes in his letter to the Grand Duchess Christina (c. 1615):
“Some of the brethren raise a question concerning the motion of heaven, whether it is fixed or moved. If it is moved, they say, how is it a firmament?”
“Showing a greater fondness for their own opinions than for the truth, they sought to deny and disprove the new things which, if they had cared to look for themselves, their own senses would have demonstrated to them. To this end they hurled various charges and published numerous writings filled with vain arguments, and they made the grave mistake of sprinkling these with passages taken from places in the Bible which they had failed to understand properly, and which were ill suited to their purposes.”
“…these men have resolved to fabricate a shield for their fallacies out of the mantle of pretended religion and the authority of the Bible. These they apply, with little judgment, to the refutation of arguments that they do not understand and have not even listened to.”
“…to this end they make a shield of their hypocritical zeal for religion. They go about invoking the Bible, which they would have minister to their deceitful purposes.”
“Copernicus never discusses matters of religion or faith, nor does he use arguments that depend in any way upon the authority of sacred writings which he might have interpreted erroneously. He stands always upon physical conclusions pertaining to the celestial motions, and deals with them by astronomical and geometrical demonstration, founded primarily upon sense experiences and very exact observations. He did not ignore the Bible, but he knew very well that if his doctrine were proved, then it could not contradict the Scriptures when they were rightly understood. And thus at the end of his letter of dedication addressing the pope, he said:
‘If there should chance to be any exegetes ignorant of mathematics who pretend to skill in that discipline, and dare to condemn and censure this hypothesis of mine upon the authority of some scriptural passage twisted to their purpose, I value them not, but disdain their unconsidered judgment.”
“…I think in the first place that it is very pious to say and prudent to affirm that the holy Bible can never speak untruth- whenever its true meaning is understood. But I believe nobody will deny that it is often very abstruse, and may say things which are quite different from what its bare words signify. Hence in expounding the Bible if one were always to confine oneself to the unadorned grammatical meaning, one might fall into error.”
"Hence I should think it would be the part of prudence not to permit anyone to usurp scriptural texts and force them in some way to maintain any physical conclusion to be true, when at some future time the senses and demonstrative or necessary reasons may show the contrary.”
Galileo also writes at great length about the Joshua passage, expounding what he believes it's proper interpretation should be.
Rob