Editing Embedded system (section)

===Cooperative multitasking===
[[Cooperative multitasking]] is very similar to the simple control loop scheme, except that the loop is hidden in an [[API]].<ref name=":0" /><ref name="Barr-glossary" /> The programmer defines a series of tasks, and each task gets its own environment to run in. When a task is idle, it calls an idle routine which passes control to another task.

The advantages and disadvantages are similar to that of the control loop, except that adding new software is easier, by simply writing a new task, or adding to the queue.