Public Function TaskCreateEncoderReaderPwmWriter ( _
	samplesInBuffer As Integer, _
	inputChannels As Integer(), _
	outputChannels As Integer() _
) As Hil..::.Task

public Hil..::.Task TaskCreateEncoderReaderPwmWriter(
	int samplesInBuffer,
	int[] inputChannels,
	int[] outputChannels
)

public:
Hil..::.Task^ TaskCreateEncoderReaderPwmWriter(
	int samplesInBuffer, 
	array<int>^ inputChannels, 
	array<int>^ outputChannels
)

function taskCreateEncoderReaderPwmWriter(samplesInBuffer, inputChannels, outputChannels);

int [] inputChannels      = { 2, 3 };
int [] outputChannels     = { 0, 1 };
double frequency          = 1000;
int    samples            = 5000;
int    samplesInBuffer    = frequency;
int    samplesToReadWrite = 1;

int []    inputBuffer  = new int    [samplesToReadWrite * inputChannels.length];
double [] outputBuffer = new double [samplesToReadWrite * outputChannels.length];
Hil.Task task;

/* ... fill output buffer with samplesToReadWrite samples to write ... */

task = card.TaskCreateEncoderReaderPwmWriter(samplesInBuffer, inputChannels, outputChannels);

/* Preload task output buffer with first samplesToReadWrite samples prior to starting task */
task.WritePwm(samplesToReadWrite, outputBuffer);

/* Start task */
task.Start(Hil.Clock.Hardware0, frequency, samples);
for (int index = 0; index < samples; index += samplesToReadWrite) {
    /* ... fill output buffer with next samplesToReadWrite samples to write ... */

    /* 
        Block (if necessary) waiting to read next samplesToReadWrite samples from
        the hardware and for space in the task output buffer.
    */
    task.ReadEncoderWritePwm(samplesToReadWrite, inputBuffer, outputBuffer);

    /* ... process samplesToReadWrite samples read ... */
}
task.Stop();

Dim inputChannels() As Integer = {2, 3}
Dim outputChannels() As Integer = {0, 1}
Dim frequency as Double = 1000
Dim samples As Integer = 5000
Dim samplesInBuffer As Integer = frequency
Dim samplesToReadWrite As Integer = 1

Dim inputBuffer(samplesToReadWrite * inputChannels.Length - 1) As Integer
Dim outputBuffer(samplesToReadWrite * outputChannels.Length - 1) As Double
Dim task As Hil.Task
Dim index As Integer

' ... fill output buffer with samplesToReadWrite samples to write ...

' Create task
task = card.TaskCreateEncoderReaderPwmWriter(samplesInBuffer, inputChannels, outputChannels)

' Preload task buffer with first samplesToReadWrite samples prior to starting task
task.WritePwm(samplesToWrite, outputBuffer)

' Start task
task.Start(Hil.Clock.Hardware0, frequency, samples)
For index = 0 To samples - 1 Step samplesToReadWrite
    ' ... fill buffer with next samplesToReadWrite samples to write ...

    ' Block (if necessary) waiting to read next samplesToReadWrite samples
    ' from the hardware and for space in the task output buffer.
    task.ReadEncoderWritePwm(samplesToReadWrite, inputBuffer, outputBuffer)

    ' ... process samplesToReadWrite samples read ...
Next
task.Stop()

array<int>^ inputChannels      = { 2, 3 };
array<int>^ outputChannels     = { 0, 1 };
double      frequency          = 1000;
int         samples            = 5000;
int         samplesInBuffer    = frequency;
int         samplesToReadWrite = 1;

array<int>^    inputBuffer  = gcnew array<int>(samplesToReadWrite * inputChannels->Length);
array<double>^ outputBuffer = gcnew array<double>(samplesToReadWrite * outputChannels->Length);
Hil::Task^ task;

/* ... fill output buffer with samplesToReadWrite samples to write ... */

/* Create task */
task = card->TaskCreateEncoderReaderPwmWriter(samplesInBuffer, channels);

/* Preload task buffer with first samplesToWrite samples prior to starting task */
task->WritePwm(samplesToWrite, buffer);

/* Start task */
task->Start(Hil::Clock::Hardware0, frequency, samples);
for (int index = 0; index < samples; index += samplesToReadWrite) {
    /* ... fill output buffer with next samplesToReadWrite samples to write ... */

    /* 
        Block (if necessary) waiting to read next samplesToReadWrite samples from
        the hardware and for space in the task output buffer.
    */
    task->ReadEncoderWritePwm(samplesToReadWrite, inputBuffer, outputBuffer);

    /* ... process samplesToReadWrite samples read ... */
}
task->Stop();