Two books:
Building Robots with LEGO Mindstorms
Discover the Undocumented Secrets Behind the Design of the Mindstorms System. Become Inspired by the Techniques of World-Class Mindstorms Masters.
This best-selling title unleashes the full power and potential of the tools, brick, and components that make up LEGO Mindstorms. This is the perfect book for building world-class competitive robots or just having fun.
Programming LEGO® Mindstorms with Java
Complete Coverage of the Java API and leJOS Internals
Complete, Ready-to-Run Applications from the Developers of leJOS
Written for all levels of Mindstorms users, this book is as much about robotics programming as it is about Java programming. The Programming LEGO® Mindstorms with Java CD-ROM includes the latest versions of leJOS for Windows and UNIX, as well as Simlink, a PC-based visual emulator for leJOS.

• Part I: Tools

• 1: Understanding LEGO Geometry
• 2: Playing With Gears
• 3: Controlling Motors
• 4: Reading Sensors
• 5: Building Strategies
• 6: Programming the RCX
• 7: Playing Sounds and Musics
• 8: Driving Around
• 9: Expanding Your World with Additional Parts
• 10: Getting Pumped: Pneumatics
• 11: Finding and Grabbing Objects
• 12: Doing The Math
• 13: Knowing Where You Are

• Part II: Projects

• 14: Classic Projects
• 15: Walking
• 16: Unconvential Vechicles
• 17: Robotic Animals
• 18: Renowned Droids
• 19: Solving A Maze
• 20: Board Games
• 21: Playing Musical Instruments
• 22: Electronic Games
• 23: Writing
• 24: Simulating Flight
• 25: Useful Stuff

• Part III: Contests

• 26: Running Against Time
• 27: Fighting Face-to-Face
• 28: Searching for Precision
• Appendix A: Resources
• Appendix B: Connectivity Table
• Appendix C: Note Frequencies
• Appendix D: Storing Legos