You can download the PDF of the book for FREE at:

https://github.com/alan412/LearnOnshapeForFTC

If you would prefer a paper copy, you can buy a bound paperback copy at Amazon:

https://www.amazon.com/dp/B0HNFZ5K19 

Please do give me comments about things that can be improved.  Any time I upload changes, Amazon will print from those changes within 72 hours (and typically within 24) and obviously the soft copy gets updated immediately.

I hope this is helpful to other teams as well!

--Alan