One special task is called “main”, this is where the program starts. On the cortex you are allowed a maximum of 20 tasks. Although I did not specifically discuss wait1Msec, it’s importance in allowing the task scheduler to switch between task…Ī 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. I’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 I’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 ROBOTC’s specific implementation, that’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 don’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, don’t worry, this is complicated stuff and most of you don’t really need to know all of these details, it’s aimed at mentors and those obsessive programmers that want to extract the maximum from ROBOTC. It’s time for another one of my long posts, this time discussing ROBOTC tasks and some of the do’s and don’ts.

Robotc tasks