Atari joysticks are very simple to interface - much easier than Playstation 2 controllers. Atari joysticks contain 5 switches (1 for each direction plus ground) and they're interfaced to a microcontroller using 10K pullup resistors plus some inline resistors for protection. This link shows an Atari joystick interfaced to a Microchip PIC16F84. The connection to a Basic Stamp would be the same - but you'll need to write your own PBasic code www.rickard.gunee.com/projects/video/pic/gamesys.php
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