Differences

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--- getting_started:tutorials:controlsystem [2016/10/21 09:45] – graf
+++ getting_started:tutorials:controlsystem [2016/10/23 10:28] (current) – graf
@@ Line 1: / Line 1: @@
-====== Create a Control System ======
+====== Control System with One Time Domain ======
-A simple control system consists of a single time domain which has to be run periodically by the excutor. Write your main program as follows. First you have to define the executor and set ist own speed. The executor runs its own periodic task
+A simple control system consists of a single time domain which has to be run periodically by the excutor. Write your main program as follows. First you have to define the executor and set ist own speed. The executor runs its own periodic task, the main task.
 <code cpp>
   eeros::Executor &executor = eeros::Executor::instance();
@@ Line 6: / Line 6: @@
 </code>
-Next we have to define the periodic task which should be run by the executor as its main task. In general this will be the safety system. To make matters simple we define a periodic task which does nothing and assign it to the main task.
+Next we have to define this main task. In general the main task will be the safety system. To make matters simple we omit the definition of the safety system. Please check for this in [[getting_started:tutorials:safetysystem|]].
 <code cpp>
-  eeros::Executor &executor = eeros::Executor::instance();
+  SafetySystem ss;
   executor.setMainTask(ss);
 </code>