The work presented here is on a methodology for design of hard real-time embedded control software for mechatronic products. The behavior of the total mechatronic system (machine, control, software and I/O) is relevant, because the dynamics of the machine influences the robot software. Therefore, we use appropriate Models of Computation and tools. The design work can be done as a stepwise refinement process, yielding shorter design time, and a better quality product. The tools use templates and pass model-specific information between each other via parameterized tokens in the generated, high-level code, to get a better separation of design steps. This allows for better quality of the models and more reuse, thus enhancing the efficiency of model-driven design for the (industrial) end user. This is illustrated by the realization of the embedded software of a real system. The method is illustrated with a case using the tools being prototyped.