[mikets]

Why do you need to use task? Are you comfortable with multi-tasking programming? To deal with multiple tasks, you need to understand the concept of protecting share resources when accessing them from different tasks (e.g. using semaphores). If you are not familiar with the concept, you may want to avoid using task.

Having said that, our team is using task to offload the vision processing so it doesn't bog down the main robot task. We have done some performance tests and found out that analyzing a frame takes about 150-200 msec. So if you are doing vision processing in your main robot task, you may need to set the safety expiration longer than the time required to process a frame.