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Control Software for Mechanical Systems: Object-Oriented Design in a Real-Time World by J. R. Ridgely, J. D. Ringgenberg, D. M. Auslander

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Chapter 2Tasks

Tasks provide the first dimension for organization of mechatronic control software in a modular way. As noted in chapter 1, the process of defining modules is the primary engineering design activity on the way to implementation of real-time control software. The process is not unique. Not only are any number of different organizations possible for a given system, there are many different organizational schemes that can be used.

Tasks represent units of work; they are the functional subunits of the job. Tasks can often be designed by breaking a system down along both time scales and physical components. For example, consider a device with several motor-driven axes. There might be one or more tasks to handle each of the several ...

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