Hi, I'm trying to make a program that updates the position of a differential drive robot with landmarks in the floor. I used a task to calculate the position with odometry and updating with a subroutine, but I get a exception every time. I think is because I'm using a subroutine inside the task. Is it possible? I'm novice programming so I don't know what's the problem...Can anybody help me?

Thx

Well, I know that subroutines belong in tasks, so that shouldn't be a problem. Maybe you could post some code and the exception, etc. so that a more detailed diagnosis could be made?

Post your code so that I can look at it and examine which exception is occuring.

There is a limit -- somewhere between 3 and 10 depending on which version of firmware -- on the depth of the subroutine calls that are handled by the robotC firmware. You can get a stack overflow exception if you have too many nested function calls.