Official Guide to Lego Mindstorms
The Official Guide to Lego Mindstorms by Johnathen Knudsen. I found reading this book to be quite informative. I have spent much of my time building and programming Lego Mindstorms. The book covered this area from the basics right up to higher level development. There were many pictures, step-by-step instructions and code samples as well. I learned a few tricks from the code samples in this book.