I'm after undergraduate level books that have problems in them both practical and theoretical if possible.

Ultimately i want to be able to send signals to components like sensors and be able to retrieve the results via code. Think like temperature and humidity sensors, or light sensors, that sort of thing.

For background i'm a software developer with a PhD in chemistry, so i'm fairly confident (if rusty) with calculus and mathematics.

Were there any books you read that were particularly good? Any i should avoid?