# Real-Time Robotics Framework

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getting_started:tutorials:controlsystem2

# Control System with Several Time Domains

In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run examples/controlsystem/PeriodicExample2. This examples does:

• Creates a main task ss with an execution period of one second. The task itself is defined of type Lambda with a run method given by a lambda function. It prints out two messages with a short delay in between.
• Creates a time domain t1 with a period of one second. Its run method prints out some messages with a short delay in between.
• Creates a time domain t2 with a period of two seconds. Its run method prints out some messages with a short delay in between. t2 runs after t1 has finished.
• Creates a time domain t4 with a period of four seconds. Its run method prints out some messages with a short delay in between. t4 runs after t2 has finished.
• Creates a time domain t3 with a period of five seconds. Its run method prints out some messages with a short delay in between. t3 runs after t1 has finished but concurrently to t2.
• Creates a time domain t5 with a period of three seconds. Its run method prints out some messages with a short delay in between. t5 runs concurrently to t1.

All of the harmonic tasks have a periodic counter which measure its periods and run times. Once every 10th run the results are logged. The results are printed in milliseconds.