One using LEGO MINDSTORMS is here: https://docs.google.com/document/d/1o9cWNXP0AgLJzQmlCPAdEuyOAd7NEor-ECX9C724lwE/edit. MINDSTORMS have been discontinued, unfortunately, but I think the tutorial is still valuable. 2019 workshop tutorials: https://web.archive.org/web/20230616111252/https://soar.eecs.umich.edu/tutorial/
One using LEGO MINDSTORMS is here: https://docs.google.com/document/d/1o9cWNXP0AgLJzQmlCPAdEuyOAd7NEor-ECX9C724lwE/edit. MINDSTORMS have been discontinued, unfortunately, but I think the tutorial is still valuable.
2019 workshop tutorials: https://web.archive.org/web/20230616111252/https://soar.eecs.umich.edu/tutorial/