Differences

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--- eeros_architecture:control_system:executor [2021/02/10 11:20] – [Initialize the Executor] ursgraf
+++ eeros_architecture:control_system:executor [2021/02/10 11:59] – [Add More Time Domains] ursgraf
@@ Line 44: / Line 44: @@
 IMPORTANT Please make sure to run an application using the executor with root privileges. This is necessary for the executor to be able to create threads with realtime priorities.
-===== Add More Timedomains ======
+===== Add More Time Domains ======
+The picture at the top of this page shows another two time domains. Time domain 2 runs after time domain 1. It can be created and added to time domain 1 as follows
+<code cpp>
+  eeros::control::TimeDomain td1("td1", 0.001, true);
+  eeros::task::Periodic per1("per1", 0.001, td1);
+  eeros::control::TimeDomain td2("td2", 0.001, true);
+  eeros::task::Periodic per2("per2", 0.001, td2);
+  per1.after.push_back(per2);
+  executor.add(per1);
+</code>
+Time domain 3 runs concurrently to time domain 1. It can therefore be created simply with
+<code cpp>
+  eeros::control::TimeDomain td3("td3", 0.002, true);
+  executor.add(td3);
+</code>