In the EEROS library you will find a directory with examples. Open a shell and run examples/controlsystem/controlSystem2. 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