I've looked at PC gamepads, and IMHO they just don't compare to good console controllers. It isn't exactly cheap, but once again I have to recommend using an Xbox Controller (~$25). You can buy an adapter for around $5, or if you have a USB cable you don't need, you can make your own. The controller ports on the Xbox really are USB ports, just with different connectors. (The controller ports on the PS2 are not USB, so the adapters for Dual Shock controllers need additional electronics and therefore are usually more expensive.) Making an adapter for an Xbox controller is just a matter of cutting some wires and splicing them together. Find out how to do the mod here: http://www.llamma.com/xbox/Mods/xbox..._to_pc_usb.htm
Then you just need a driver for it. Several hobbyists have written drivers for the controller, but I think the best one is XBCD, by a guy known as Redcl0ud: http://www.redcl0ud.com. It also works with the Logitech wireless Xbox controller and the DDR dance pad. Rumble works too, for games that support force feedback.
Redcl0ud has also written drivers for the Xbox memory card, the Live headset, and the Music Mixer microphone. (Note however, that the memory card driver will reformat the card, which will erase any Xbox saves on it and make it incompatible with the Xbox. The driver is just for if you want to use a memory card as a storage device. If you want to transfer Xbox saves to your PC using the memory card, you need the Action Replay drivers.)
Also, Redcl0ud wrote a utility called ControlMK which allows you to use a controller to emulate a mouse and/or keyboard. With this, any control config should be possible.
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