Definitive Guide to LEGO MINDSTORMS, Second Edition by Dave Baum
Dave Baum is the creator of NQC, which is my preferred programming tool for Mindstorms. Latest Edition!

Lego Mindstorms SDK: There are some visual basic examples at Examples

VB applications: Lego on my Mind: Eric has released an app for controlling your rcx.

For working with C++: Bjarne's Mindstorms Programming Page

Information on RCX communication: RCX Internals: Serial Protocol

More information on Lego Mindstorms: Lego Mindstorms Internals

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