In 2001 we used a steering wheel because we had articulation drive.
Tank Drive is the simplest solution, but it all depends on the game.
Here is one Team contraption from UTC, the person drove and manipulated. It is pretty cool, I don't know how it worked out.
http://www.rhodewarrior.org/2002/pic...source/69.html
One thing that requires is a serial connection, which fewer and fewer devices are being made with a serial connection. Most companies favor a USB connection for obvious reasons. You can however build a USB to serial converter, as 190 (I think) made their joystick work.