Just finished putting together a presentation for the Christchurch Robotics Group on making custom sensors for the Lego NXT.
Making resistive/switch sensors is very simple, but one of the sensors is an AVR-based I2C sensor which puts all the flexibility of a microcontroller in the sensor. More info on that to be posted later.
Presentation pdf and code for the micro here.
Update: Code is now on github.
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