Help taskdelay

heej all, i am making a robot, with freertos only i am getting some problems. the Microcontroller = ATmega32. i made 2 tasks (they work fine). task 1, says what dance move he must do. task 2, says what ports he must set high (to dance). then i got an external interrupt. when he sees an interrupt on the front is has to stop and move backwards. the commands it sets are in task 2 to. somehow it seems it is doing 2 commands @ the same time but i have no clue why. in the external interrupt it wil put temp on 0. example code: for(;;) { if (temp == 1) { if ((x == 1) && (y == 0) && (z == 0) && (w == 0)) {         PORTB = ~0x10;     vTaskDelay( 3000 / ( portTickType ) 2 ); } etc to dance } if (temp == 0) {     if (evede == 1)     {         temp = 0;         PORTB = ~0xFF;         vTaskDelay( 3000 / ( portTickType ) 2 );         PORTB = ~0xA0;         vTaskDelay( 3000 / ( portTickType ) 2 );         temp = 1;     }    } i also tryed to just make 2 task instate of temp == 0 amd temp == 1; but i can’t get the tasksuspend and resume to work (they are turned on 1 in the config file) anny1 know what is going wrong, if you wanne / can help you can always contact me on MSN messenger to: mike.aalbers@upcmail.nl grtz dragie