Custom Tasks are coded in MathWorks’® Simulink® and Stateflow® toolboxes in a Windows® environment. These toolboxes provide a graphical programming environment and include many pre-built functions and KINARM-specific Simulink blocks that make code development much faster. Before you start, make sure you’re using BKIN supported versions of MATLAB Simulink and Stateflow.
Read our Custom Task Programming Guide
Especially see Section 6 for Tips for Testing and Debugging a New Task Program