We just installed a Bluetooth and it is wonderful.  We bought a Windows 7 compatible dongle (http://www.amazon.com/gp/product/B004LNXO28/ref=oh_o00_s00_i00_details) for less than $20 and it works with no connection problems to the NXT.  My team has become fascinated with reading the sensors via Bluetooth while the robot is roaming and have discovered that none of their reset rotation sensors or reset motor blocks seem to be resetting anything.  They put these before the wild turns and the turns still are wild.  On these turns, the robot behaves for a time or two, goes on a wild turn  for a time or two and then go back to behaving for a time or two.  However the team has noticed that when they reset the turns manually via the Bluetooth at the start of the program, then all of the turns behave fine.  Has anyone else experienced this?  Is there a correct way to resetting rotation sensors and motor blocks other than just dumping then in front of a turn?  How can they reset the turns without manually going through the Bluetooth each time?

Thanks for any help that anyone can offer!

Mandy Wilson