Rapid development of embedded control software using variable-detail modelling and model-to-code transformation

This paper shows a method for the development ofembedded control software of a cyber-physical system.The approach consists of two parts, a cycle for the rapiddevelopment of a set of features based on agile softwaredevelopment, and a variable-detail approach using model-driven development to develop and test single features.The method is used to develop the control system of amini-segway, which is able to balance, steer and drive.This structured method gives effective results and a largeset of models for future development