medieval literature question

I am planning some units for next year.  We will be studying kings, queens, knights, and the medieval period.  I would like some accompanying literature that is appropriate for lower and upper elementary, with some very littles thrown in.  Any suggestions?  I am looking for a good, really engaging read-aloud.  It can’t be too long (ie: connecticut yankee in king arthur’s court, too much, too long). 

One thought I had was Adam of the Road?  Anyone read this?  Our co-op will have one 7th grade girl (bit of a tomboy, too), two 5th grade boys, two fourth grade girls, three second grade girls, 1 boy and 1 girl kindergartener, and two boy pre-k’s. 

Thanks in advance !

Amy