■ Chapter 1: In the Beginning 1 ■ Chapter 2: Extreme Software . 21 ■ Chapter 3: Making a Connection 47 ■ Chapter 4: Contact Sensors 63 ■ Chapter 5: Resistive Sensors 73 ■ Chapter 6: Potentiometer Sensors 103 ■ Chapter 7: Voltage Sensors 119 ■ Chapter 8: 4.3V Powered Sensors 127 ■ Chapter 9: Two-Wire Powered Sensors 145 ■ Chapter 10: Light Sensor with LED Control . 165 ■ Chapter 11: LEGO Motor Interfaces 173 ■ Chapter 12: Beyond LEGO Motors . 195 ■ Chapter 13: I2C Bus Communication . 229 ■ Chapter 14: Cool Combinations 267 ■ Appendix A: Construction Techniques 291 ■ Appendix B: References, Links, and Sources . 309 ■ Appendix C: Code Listings 315 ■ Index . 327