Things To Look Out For:
Every task must end with
nrk_wait_until_next_period();
-When we were adjusting our PWM so that no signal would be output when there was zero duty period, we mistakenly put the above statement into the check, leading to 'Task Reserve Violated' errors. We put the check in because there was a slight lag between setting and clearing the pin that caused the cars to inch forward, even when duty periods were 0.
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