Picture of Using NXT Components with a Micro Controller
This is a guide to using the motors and sensors from the LEGO NXT set with a Parallax Basic Stamp II or BS2.  However, rather than just providing schematics and sample code for the BS2, I'll be providing some theory on how the sensors work as well.  This way, someone using an arduino or other microcontroller should find this guide at least somewhat helpful.

My two main sources of information are
The LEGO Hardware Developer Kit  http://mindstorms.lego.com/en-us/support/files/default.aspx
TheCompBlog: Hacking the NXT http://www.thecompblog.com/2012/07/hacking-lego-nxt-part-1.html
-The latter is a decent guide if you're using an arduino.  But take note that his schematics often show pins 2 and 3 connected to +5V instead of ground.  Pins 2 and 3 are ground for all of the sensors except the button which is just a switch.

Have any suggestions?  Is something difficult to understand, incorrect, or missing?  Leave a comment and I'll see what I can do.  I would like this instructables to be a comprehensive guide on using the BS2 with the NXT set.  If you're using a different microcontroller and you're stuck, I may or may not be able to help but it doesn't hurt to ask.

I hope to get an arduino soon, and if this guide does well I will post a complimentary guide for using the arduino with sample codes for that.  Let me know if you'd like that.