Task scheduler adopts the strategy of fixed-priority preemption to improve the real-time performance, and it can schedule 16 tasks at one time.

任务调度模块采用静态优先级抢占调度机制来提高实时性能，能同时调度16个任务。

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And fixed versus variable speaks to whether you give a reward on a fixed schedule, every fifth time, or variable, sometimes on the third time, sometimes on the seventh time, and so on.

固定与变化则是相对于,你是否根据固定时程给予奖励而言的，每五次就给予奖励，或者是变化的，有时候在第三次上给予奖励，有时候则在第七次上给予奖励。

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