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In this paper, we present a comprehensive approach to design of embedded real-time software for electrically controlled mechanical systems in automotive applications. As a case study, we implement a Gear change and Clutch controller for a Formula SAE car. This includes a generic communication interface and protocol for CAN bus communication, I/O interfaces for A/D conversion and PWM output, together with a PID controller for clutch actuation. Under our framework, the embedded software is developed using Timber, a programming language and formalism that provides executable models for embedded real-time systems. The case study shows how a complete control system can be straightforwardly modeled, simulated and transformed into executable code. The system has been realized and tested onto a lightweight, 8-bit AVR-5, embedded platform. Compared to the raw C code design flow, the proposed framework has in our case study showed increased efficiency with respect to development time.