TaskScheduler.md

+
+The `TaskScheduler` is one of the most used and useful components provided by `skyward-boardcore` (`src/shared/scheduler`).
+
+It is an [active object](Active-Object) that allows to run periodic tasks (functions) with user-selectable period.  
+This is very useful in order for example to perform the sampling of all the required sensors, but also to run control algorithms that have to be periodically updated.  
+One of the best advantages to use such component is that all the functions given to the scheduler are executed in the same thread.
+
+## Adding Tasks
+The interface for adding a new task is pretty simple:
+```cpp
+void add(std::function<void()> func, uint32_t intervalMs, uint8_t id, int64_t start = miosix::getTick());
+```
+Where the parameters are: the function to be periodically executed, the task period in milliseconds, an identifier for the task and the start time (by default set to the current system time).
+
+> :warning: **Tasks in the tasks scheduler are meant to be added at inizialization. This means that all the tasks have to be added to the scheduler before the _start()_ method is called (which will start the thread execution).**
+
+A method for adding tasks that have to be executed only once also exists and is called `addOnce(...)`. Instead of an execution period, it allows to specify a delay after which the task will be executed.
+
+## Example
+The following example creates a `TaskScheduler`, adds to it a period task with period 1 second (1000 milliseconds).
+```cpp
+#include "Common.h"
+#include "scheduler/TaskScheduler.h"
+
+using namespace miosix;
+
+void task()
+{
+    static long long last_tick = getTick();
+
+    printf("Task executed at %d\n", (int)(getTick() - last_tick));
+}
+
+int main()
+{
+    TaskScheduler scheduler;
+
+    TaskScheduler::function_t f{&task};
+    // add task with period 1 second and id 1
+    scheduler.add(f, 1000, 1);
+
+    // start the active object thread
+    scheduler.start();
+
+    Thread::sleep(10000);
+
+    scheduler.stop();
+    printf("End\n");
+
+    for(;;)
+    {
+        Thread::sleep(5000);
+    }
+}
+```
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