i just bastardized together a rather disorganized piece of software to control my nxt with a joystick. i mean this program is held together by duct tape and bailing wire. i broke pretty much every rule in the book. despite the total lack of sound design i think it works.
im not using any of the nxt motors, using a servo controller board and a motor multiplexer board instead. the servo controller drives just one servo for steering. the motor controller is driving 4 of the old lego motors from the old rcx, the ones that had really high performance and efficiency (nxt motors are too ****ing slow). the motors drive the wheels at 1/2 reduction for sanity. the suspension is from the 8880 supercar set, independent suspension and 4 wheel steering (not to mention 4w drive with each wheel powered by its own motor). i think this thing will do 30 mph when i get it working.
i discovered that even without the nxt motors attached to the ports, you can still read (and remotely write) to the motor status registers. by reading the data i can set the motors to the desired speed and servos to the desired position. since the motor and servo controllers run on on the i2c interface on the sensor side of the nxt, and the motor ports remain free, this works very well. my proggie just tries to control the power of the motors which arent connected, writing to the registers. i was about to take a test drive, but i realized i completely drained the 2 lithium polimer 9volt batteries that were powering the motors. i also completely drained the no-rechargable servo 9v. so im gonna have to drive it in the morning, lipolys take about 12 hours to recharge
