Mastering Lego Mindstorms : Build Better Robots With Python and Word Blocks, Paperback by Bratzel, Barbara; Torok, Rob, ISBN 1718503148, ISBN-13 9781718503144, Brand New, Free shipping in the US

"Th teaches the fundamentals of writing text-based code for designing robots using the Python programming language; shows how to harness gears, linkages, and other mechanisms to create all kinds of motion; and explores sophisticated programming techniques for popular applications such as line following and obstacle avoidance, using both Python and Scratch-based word blocks"--