For the FreeRTOS, you can visit following URL to get Tutorial type materials.
To begin with, how about skimming the pages above
and if you encounter further question(s), post specific questions to
FreeRTOS Support Forrum
and/or here ;-)
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A task controlling a motor (or any other device) usually does not end. Just like the infinite main-loop in "normal" applications the controling tasks will not end. Instead there are conditions set from the outside that the task "sees" and performs what is needed, ie the change between actual and required position. Starting and ending tasks can result in some system overhead which might reduce performance.
When you want to learn how RTOSses principally work, have a look into this thread.
Is it like this if sevo task(i want to move 90 degree) and dc task are give some 5 ticks,the sevo will do for 5 ticks (which moves to 20degree)then switches to dc task for 5 ticks and then to servo move 40 degree,then to dc and so on unit it completes the task
Think in single tasks:
How are you going to let the servo task move 90°? Probably you setup some signal stream (using a PWM) and WAIT for completion.
The second motor works the same.
Now during the wait phases, because tis is comparably slow, your tasks get switched a thousand times per second until the waiting is finished.
If you are interested in generating PSoC6 projects with FreeRTOS, the following video series will be helpful.