I got the PSP-Nx Combo with Wireless Controller for my Birthday. This Comes with a PlayStation 2 Wireless controller and the PSP-Nx converter which you can plug a PS2 controller or wireless receiver into and get a Sensor output for the NXT. From that you can receive from the 16 buttons (Triggers, bumpers, R3, L3, D pad, Shapes, select, start) and X/Y axis from the 2 joysticks. To test this out i built 2 robots. First I built a simple skid steer robot with a rotocaster as the back wheel. Then I used a program from Mindsensors to start off with so that i could learn how the programming works. I also downloaded the NXT-G block. I then built the HiTechnic RotaBot and used ­R J McNamara's program (I'm having trouble finding the link because I believe his website is down) to make it work with the robot. - His code was written in NXC which I do not know so I couldn't edit it. AAs you can see in teh video - this robot can drive in any direction without turning. This robot requires Rotocastors and NXT 2.0 set.