This paper summarizes our experience of teaching undergraduate robotic courses in the past ten years. The objective is to introduce students to the fundamental knowledge in robotics. Lecture topics covered subjects in both Autonomous Mobile Robots and Robotic Manipulator. In the lab sessions, students work on physical robots to acquire basic robotic design, integration, and algorithm implementation skills. The commercially-available VEX robotic kits, together with its extensions, are used as the robotic platform. By constructing an autonomous mobile base, students can explore topics pertaining to Autonomous Mobile Robots. By adding a simple robotic arm on top of the mobile base, students can investigate subjects in Robotic Manipulator. By further integrating the VEX robot with other devices such as Raspberry PI (with its camera module) and XBee modules, the enhanced VEX robots achieved onboard image processing and wireless inter-vehicle communication capabilities. More advanced topics, such as vision-based control and coordinated control, can then be brought to the undergraduate robotic classroom, boosting students' interest in robotics and the STEM fields in general. The course learning objectives of obtaining knowledge and skills in both Autonomous Mobile Robot and Robotic Manipulator were assessed using direct assessment methods via in-class exams. Students' acquired hands-on skills and their interests into robotics and general STEM fields were evaluated using indirect methods via surveys and Student Evaluation of Teaching (SETs). The combined assessment results demonstrate the effectiveness of the designed course content, projects, and the overall teaching approaches.