RTOS TimeSlice Shell For ZX-xx Microcontrollers

[zbasicandy]

With the RTOS_Timeslice_R1.bas "locked timeslice" code you can do the following:

#1 Execute any number of tasks at regular locked intervals.(e.g. every 20 ms./100 ms./500 ms.)
Blocks of user code can executed in the non-interleaved multitasking interval mode.
#2 You can choose the frequency of executing each task by altering the Time_Class_x_Counter_Max.
#3 You can choose the order of execution by having the most important task first.
#4 You can have the slow, infrequent tasks run in the periodic background in the Sub "Main Do/Loop".
#5 PID can be easily implemented in this fixed non-interleaved interval multitasking routine.
Note: PID requires a fixed "non-interleaved" timeslice for the PID calculations and tuning.