Mindstorms is awesome. I prefer cRIO w/ VXWorks running Java code, but that's expensive and complicated (high school robotics team #1 used that).
If you don't like the look of NXT-G and the fact that it's drag and drop programming, look up RobotC. It's a variant of the C programming language from Carnegie Mellon designed for the NXT and is fairly simple to get started with while still being quite powerful (used by team #2).
The different programs were for entirely different leagues though. If you're middle or high school aged, look around your area for FIRST Robotics teams. If you're out of high school, but still want to get involved I know many teams are always looking for mentors, though they usually prefer people who already have technical skills.
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