Scheduler library [scheduler.c] contains a set of functions to schedule internal robot agent tasks.

void scheduler_start (scheduler_t *ces)
This function starts scheduler. This function should be run once just before starting task execution.

void scheduler_wait_for_timer (scheduler_t *ces)
This function waits till timer has reached time specified in scheduler data structure element "ces->minor".

void scheduler_exec_task (scheduler_t *ces, int task_id)
This function executes tasks. The function will return only when execution of the task has ended.

void scheduler_run (scheduler_t *ces)
This function is empty and must be implemented by the student. Function must contain functional task scheduling.