Rate Monotonic Scheduling
While developing a high speed real-time control application on the NXT, you may encounter some difficulty to design the application which responses against external stimulations within expected deadline. (I.e. if you wanted to design a real fast Line Tracing Robot,
In rms.c and rms.oil, three periodical execution Tasks are defined and Tasks have the following specifications. Task1 and Task2 control Servo Motor A and B independently and if the Touch Sensor was touched, the Motors would be stopped.
To test this Rate Monotonic Scheduling example on the NXT, you need to have the following NXT devices:
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