Here is an example program with three tasks in addition to main. Most tasks are started with the same priority as the вЂњmainвЂќ task, a higher priority task is considered more important and will be allowed to run ahead of tasks with a lower priority, we will get to that in post 2. Tasks are started using the function startTask which takes the task name as a parameter and an optional task priority. One special task is called вЂњmainвЂќ, this is where the program starts. On the cortex you are allowed a maximum of 20 tasks. Although I did not specifically discuss wait1Msec, itвЂ™s importance in allowing the task scheduler to switch between taskвЂ¦ДЄ task is an independent thread of execution, it has some dedicated storage but also shares the global variables for the program. We looked at how abortTimeslice ( and EndTimeSlice ) affect the way tasks run. We have already used StartTask to start tasks with the default task priority or a user defined priority. IвЂ™m going to conclude this short tutorial on multi tasking with a discussion of the remaining useful RobotC commands relating to tasks. RobotC programming tips Technical Discussion The information presented back then was essentially correct but IвЂ™m going to add a little more background and a few tips in this post. I made these posts when I was still trying to understand ROBOTCвЂ™s specific implementation, thatвЂ™s four years before I joined Robomatter and had access to the source code. For those who want to see some older examples and and my original posts from 2011 here are the links. I donвЂ™t really want to explain the whole process again (although re-reading this it seems I more or less do) but there are few things to clear up. There were a couple of threads last week that commented about using tasks in ROBOTC.

I realize this information is going to be way beyond the comprehension of many of the new students reading it, however, donвЂ™t worry, this is complicated stuff and most of you donвЂ™t really need to know all of these details, itвЂ™s aimed at mentors and those obsessive programmers that want to extract the maximum from ROBOTC. ItвЂ™s time for another one of my long posts, this time discussing ROBOTC tasks and some of the doвЂ™s and donвЂ™ts.

Robotc tasks