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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

    RoboCup - robotic soccer

    Design and build of a thruster controlled model of a Large flexible Space Station (LSS)

   Design of a robotic ping pong player

    Soccer Robots

    Stumpy: A Pneumatic Muscle Actuated Bi-pedal Robot