# Finalizing a lustre + FreeRTOS application
# multi-tasking

This example is similar to the one of 5-arduino-lustre, but,
instead of running a single Lustre program on a single OS task
we run 2 lustre programs on 2 two tasks.

# Folder contents
- control.lus (given): implements the expected functionality
- control_loop.cpp (to be completed): the setup and loop implementation
- control_ext.h (given): the C definition of lustre basic types, suitable for arduino
- Makefile (given): extended to handle the compilation of lustre and FreeRTOS code 

# The two tasks
- in control.lus, note that tha the full 'control' nodes made
  of two sub-nodes 'uturn' and 'liner'. Those nodes communicate
  with the BatCar, but also between them.
- The idea is to:
  * compile both nodes (Makefile is adapted for that)
  * run each node in its own FreeRTOS task
  * make them communicate at run-time through
    a suitable set of variables

# Completing the control_loop:
- Al that concerns BatCar and FreeRTOS 'glue' is similar to 5-lustre-freertos
  (and mainly given)
- You will have to focus on what's missing to make the 2 tasks communicate