task beep(){
while(true){
if(joy1Btn(8) == 1){
PlaySound(soundBeepBeep);
wait1Msec(500);
}
endTimeSlice(); //makes way for other tasks to run; ends its allotted "time slice"
}
}
task KeepArmInPosition()
{
while(true)
{
currentError = armPosition - SensorValue[ArmPoten];
derivative = currentError - lastError;
lastError = currentError;
integral = 0.9 * integral + currentError;
motorPower = kP * currentError + kD * derivative + kI * integral;
motorPower = abs(motorPower) > motorThres ? motorPower : 0;
if (armPosition >= maxArm && motorPower < 15)
motorPower = 15;
LiftArm(motorPower);
endTimeSlice();
}
}