+2 to Lego EV3. I've even built some scale FRC replicas with it (
here is my 2015 rendition) that uses both an NXT and an EV3 and required two operators and was pretty slow, but it worked. Very un-optimized, too - proof? The intakes had 2x the power of the elevator motor. Needless to say it's pretty simple for those starting out but is future proof for those who like to build more advanced models.