You can either follow along online or download a copy for offline reference.
Lab 1: Setting Up
Setup the IDE (Integrated Development Environment) for the Arduino. ;Lab 2: Input and Output with the Arduino(.zip of example code)
Learn about the digital and analog input and output of the Arduino.
Lab 3: DC Motor Control
Control a DC motor with an H-bridge and the Arduino
Lab 4: RC Servo
Control an RC serco with the Arudino