http://zone.ni.com/devzone/cda/tut/p/id/4435
Labview extension that makes you able to program NXTs. It works like a charm.
1000x better than NXT-G or Robolab or any of that beginner stuff. Be careful because you can't use all the labview functions on the NXT (Like the in range and coerce function is out).
There's a similar toolkit that lets you do robolab (since robolab is based off of labview).