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An integrated series of courses on embedded systems has been developed at Iowa State University, Ames, spanning early undergraduate to graduate levels. The newest course in the series is CPRE 488: Embedded Systems Design, an advanced undergraduate course that fills a gap in the curriculum by providing system-level design experiences and incorporating new technology advancements. CPRE 488 development focused on lecture-lab integration and laboratory learning. Course and lab activities were designed using a learning model that captures lower-order and higher-order cognition levels of Bloom's taxonomy. The learning experience in the laboratory is characterized using a technique to assess cognitive behavior. Results of applying the Florida Taxonomy of Cognitive Behavior are presented to summarize the depth of student learning and the opportunities for students to progress to higher-order thinking in the laboratory. After two years of experience with the new course, the authors reflect on the course design and outcomes, from both disciplinary and pedagogical viewpoints.