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Today there is a growing trend towards networked and distributed embedded control systems. To implement the needed components there might be no suitable hardware platform available on the market. This contribution illustrates some lessons learned from a joint project of a mid-cap German company and a university to develop several embedded hardware PCBs (printed circuit boards). It outlines a development methodology typical for comparatively small machinery manufacturers that can also be applied to pure university projects and gives thus an idea of the required effort and the necessary steps. Practically experienced development challenges and potential pitfalls are shown as well. Industry practice like this is often considered a trade secret and therefore not covered very well by the existing literature.