I have a non-USB Sidewinder gamepad and it works fine on Windows XP. XP includes drivers for it.
Did you do an upgrade or a clean install of XP? What may be happening (if you did an upgrade) is that it is keeping the old Win98 drivers instead of using the XP ones.
Maybe try the Sidewinder software.
http://www.microsoft.com/sidewinder/
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With our extreme gelatinous apology,
We beg to inform your Imperial Majesty,
Unto whom be dominion and power and glory,
There still remains that strange precipitate
Which has the quality to resist
Our oldest and most trusted catalyst.
It is a substance we cannot cremate
By temperatures known to our Laboratory.
~ E.J. Pratt
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