void liner_task(void* _dummy){

	//TODO: (REAL TIME) periodic timer initialization
	// Initialize xLastWakeTime with current ABSOLUTE time.
	TickType_t xLastWakeTime;
   xLastWakeTime = xTaskGetTickCount();

	//TODO: (REAL TIME) Wait offest
	vTaskDelayUntil(&xLastWakeTime, OFFSET);

	// Core of the task = infinite control loop
	for(;;){

   	//TODO: here, sample (read) necessary input from the SBC
   	//      and 'send' it the lustre program
   	control_I_k1(BatCar.button_pressed());
   	control_I_sensor_left(BatCar.line_sensor_left());
   	control_I_sensor_right(BatCar.line_sensor_right());
   	control_I_odist(BatCar.ultrasonic_sensor_distance());

   	//TODO: here, call the lustre step
   	control_step();

   	//N.b. noting to do for outputs, they are sent
   	//to the lustre program via the _O_ procedures

		//TODO: (REAL TIME) 'sleep' until next peiod
		vTaskDelayUntil( &xLastWakeTime, PERIOD);

	}
}