Definitive Guide to LEGO MINDSTORMS, Second Edition Softcover reprint of the original 2nd ed. Edition
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But it isn't really a "guide" -- much less "definitive." The smattering of topics is somewhat haphazard, and it could certainly not be used as a reference. The intended audience seems to be a beginner, but basic programming/engineering concepts aren't introduced, so one would have to get that elsewhere.
Baum admirably tries to explain his design decisions, but I was frustrated that some of the programming is not explained as thoroughly (e.g., why use a messier "repeat-while" instead of a simpler "wait until"?).
I would recommend this over many other, sillier, project-based books I've looked at. However, I'm still looking for a textbook or guide to RCXs (it will probably never come with the NXTs now being out.)
David Baum's book is also very logical because he begins by telling you how to build and program the the basic "Tankbot". After that, the projects are the result of changes made to Tankbot so the child is not starting from scratch each time. Each new project introduces new concepts of programming that are discussed in the book. Therefore, it is a gradual growth of experience and knowledge that is not too overwhelming to the child. (Or the adult helping.)
The disk which comes with the book contains the NQC compiler and is also full of program examples so that you can simply download the programs if you wish. The class was a hugh success because of this book. Next summer we will be offering two classes in robotics (beginning and advanced).
Plenty of examples an very well explained.
Worthful for newbies and intermediate builders.
It well worth the money