/*
 * Constructor
 */
Body::Body() {
    l_leg = new Leg( p21, p22, p23, LEFT );
    r_leg = new Leg( p24, p25, p26, RIGHT );
    move_sensor = new minimu9();
    semaphore = new Semaphore( 1 );
    
    speed = 1;
    calibrate();
    wait( 1 );
    
    Thread sensor_thread ( update_sensor  );
}

/*
 * Constantly monitor angle data
 */
void Body::update_sensor( void const *argument ){
    float x, y, z;
    while( 1 ) {
        move_sensor->get_data();
        x = move_sensor->get_roll();
        y = move_sensor->get_pitch();
        z = move_sensor->get_yaw();
        set_angles( x, y, z );
    }
}

/*
 * Update values, lock before writing
 */
void Body::set_angles( float x, float y, float z ) {
        semaphore->wait();
        roll = x;
        pitch = y;
        yaw = z;
        semaphore->release();
}

/*
 * Retrieve the values, lock before grabbing to
 * insure they are not contaminated
 */
 float* Body::get_angles( void ) {
    float angles[3];
    semaphore->wait();
    angles[0] = roll;
    angles[1] = pitch;
    angles[2] = yaw;
    semaphore->release();
    
    return angles;
 }

I have a body object that has a sensor. The idea that is in the constructor the body should start a new thread that uses basic body functions to constantly monitor and update sensor date <<code>> /* * Constructor */ Body::Body() { l_leg = new Leg( p21, p22, p23, LEFT ); r_leg = new Leg( p24, p25, p26, RIGHT ); move_sensor = new minimu9(); semaphore = new Semaphore( 1 ); speed = 1; calibrate(); wait( 1 ); Thread sensor_thread ( update_sensor ); } /* * Constantly monitor angle data */ void Body::update_sensor( void const *argument ){ float x, y, z; while( 1 ) { move_sensor->get_data(); x = move_sensor->get_roll(); y = move_sensor->get_pitch(); z = move_sensor->get_yaw(); set_angles( x, y, z ); } } /* * Update values, lock before writing */ void Body::set_angles( float x, float y, float z ) { semaphore->wait(); roll = x; pitch = y; yaw = z; semaphore->release(); } /* * Retrieve the values, lock before grabbing to * insure they are not contaminated */ float* Body::get_angles( void ) { float angles[3]; semaphore->wait(); angles[0] = roll; angles[1] = pitch; angles[2] = yaw; semaphore->release(); return angles; } <</code>> However every time I get an error saying: "no instance of constructor "rtos::Thread::Thread" matches the argument list" in file "/body.cpp", Line: 15, Col: 41 Line 15, col 41 referring to when I try to create the thread object. Any ideas on how to get this to work? I feel like it is something simple but I do not have a lot of experience with threaded programming.