[aaeamdar]

I'm not sure why you would ever want to be using multiple threads for this type of project - there's just no need for them (that I can think of). Threads are for when you need to be doing multiple things concurrently - what two things (or more) would you need to be doing concurrently in this robotics application? An easy example of thread use in other applications is when you want to add music to your videogame that you just wrote. The two things you want to be doing concurrently are:

1. Keeping up with the game (resolving collisions of spaceships with lasers, etc)
2. Loading and playing the next byte of sound data.

So, no, can't really see how anyone would use threads to do anything other than confuse themselves - but interested to hear others' ideas.

-Paul