These Robot projects with very detailed final reports from Dr. Wornle's students are great examples of how to use Matlab's real time embedded code generator for rapid prototyping of real-time control systems on MC9S12DP256 based hardware. For more information please visit:
A Simulink target for real-time control using Freescale HCS12 microcontrollers
Design
and build of a thruster controlled model of a Large flexible Space Station (LSS)