Mindboards

Hi. I'm using subsumption architecture for a project. Subsumption architecture is when you use tasks which all run parallel to each other, and then depending on what is active certain things are ran (Briefest of explanations). Anyway, i'm looking though the RotateMotor functions and i've hit a little snag. From reading the documentation it seems to be that they are thread safe, meaning my use of mutexs seem to be void (Any other tasks can only be run once the rotate functions have finished) which kind of removes the whole point in what I'm working on.

Does anyone have any knowledge on how to get these functions to run parallel on different tasks? Will this even be possible, or will I have to design my own functions?

Thanks

Fixed it. I just decided to remove my mutexs as there weren't any need as the functions are thread safe anyway.