This is a great book with a lot of interesting ideas. Details how to build a variety of sensors including:
An ohmmeter sensor Temperature sensor (this one is excellent - showing exactly which components can be used to replicate the RCX temperature sensor) Light and Color sensors Angular sensor Joystick Two types of (pneumatic) pressure sensors Voltmeter sensor Magnetism sensor (hall effect) Current sensor I2C capable sensors (one purely digital, one using an analog-to-digital converter)
The "magic wand" project featured on the cover uses an I2C interface and is well documented in the book.
On the output (motor) side, the authors describe using the outputs to power relays instead of motors, as well as low voltage lamps, etc. They also show how to use relays to enable a higher voltage/current circuit that is independent from the NXT power source.
All in all, it's a great book with a lot of good ideas and helpful information. My only complaint is that the book glazes over some details that would have been helpful to discuss in greater depth. In particular, things like whether the motor's H-Bridge is internal to the NXT, or if it's contained in the motor itself (after further study I found that it's internal to the NXT). Likewise, it would have been nice to see actual schematics of the stock NXT sensors, rather than just photos of their interiors.
Really, the tough thing for the authors is that there is a huge amount of material required for understanding circuit design. They can't cover it all, but it seems like a little more depth in a few places would have been helpful (at least for me).
There's an updated (second) edition, though, so perhaps that has already addressed them.