I have recently put together a 3pi with a WiFly-GSX module from Roving Networks (rovingnetworks.com/surf_board.php) and developed an iPhone app that allows for control of the 3pi over an adhoc network created by the WiFly module. In addition to regular push buttons to control the 3pi, I integrated the iPhone/iPod touch accelerometer for a new way of controlling the 3pi’s motion. Here is a video demo:
Let me know what you think or if you have any questions! Thanks for watching.