This is a project for CS452 at the University of Waterloo. It's a result of the many hours Steven MacLeod and William Saunders spent in the trains lab in 2011.
Included is a realtime micro kernel, and application code to run atop it for controlling a model train set. A simple game where the trains represent "repair robots" which you must outsmart to destroy the spaceship (represented by the track) is included.