This has two main parts (the front and the back) on the front there is the PF battery box, front driving motor, and the steering motor along with PF LED lights. On the back section there is the back driving motor and the NXT. The two parts are connected by one axle, which stays in surprisingly well.
The program was pretty simple. I used ROBOTC again. The program uses the PSP-NX-V3 to control the driving. Right joystick controls the drive motors and the left joystick controls the steering.
You can download the program here (.Zip)(driver is included and has to be in the same folder)
You can download the Building instructions here(PDF)
You can download the LDraw 3D files here (ZIP)
Check to see if you have all the parts using Rebrickable