These days, I pondered about a way to test new robots already during development phase to figure out reasonable and working usage of the NXT motors, without the need to write (and frequently adapt) a separate program each time.
It occurred to me that (apart from approaches that use PC remote control) it might be a good strategy to create a NXT-based Bluetooth remote control that allows for separate control of each motor independently.
And here it is: the NXT Switchboard.
The program that actually runs on the robot in development (presently implemented in leJOS NXJ, the Java platform for the NXT) is a general-purpose one (it simply receives and handles the control signals sent by the remote control) and can be re-used for each robot.
Of course, one can use the NXT Switchboard also to remotely control finished robots (if required).
Addendum: in the video, the hand wheels are operated by my invisible Chesire Cat ;).