One of the “highlights of my month”, is stealing my co-workers copy of Embedded Systems Design. This month has an article on “embedded multitasking on a PIC” processor.
I don’t know how well this described multitasker would work on the Vex Controller because of the Master and User processors, but I would guess that it could be adapted to some extent…
So if you are interested, please read the article, The basics of embedded multitasking on a PIC. There is Three Parts, and the Source Code is available from the author. I have already requested the source code…