Plumbing for the Arduino is a gentle, Creative Commons licensed introduction to programming the Arduino using the programming language occam-π. The most recent version is freely available for download as a PDF.
Jan 24, 2011: The book has seen a partial update. Text/code inconsistencies have been updated, but we have not finished updating all of the diagrams. We will update those as quickly as possible. A new chapter regarding firmware upload was added.
Continue to drop any issues to book-bugs at concurrency dot cc, but know that we're workin' hard.
The text is primarily authored by three members of the occam-π research collective:
Plumbing for the Arduino has been used by a number of students, some of whose feedback helped shape and/or correct our writing.
If you've got a question, post it to the appropriate mailing list and we'll help out and point you in the right direction.