The USB-Chicklet is a hardware device that performs USB Hosting for HID joysticks and game pads.
The output of the device is the 15 pin analog joystick interface
 commonly used on older PC's and the FIRST Robot controller. This 15 pin
interface is also simple to read for any micro that can read analog values.

This product allows any custom embedded system to read
USB joysticks, Game pads and the X-box (original and 360) controller !

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Tutorial: USB-Chicklet[pdf]