Now I am trying to learn NXC but in the mean time, I've become a LEGO NXT-G master...
@RoboMoon i suggest you use NXC, it's based on C.
If you are a "hardcore" NXTer you can probably figure out how to program the ARM and AVR.
Can't remember the name of the ARM but both it and the ATmega48 (which controls the servos) are made by ATmel.