When multitasking in robotc are you able to stop a task within itself? For example, for the code below would this task stop if the sensor touchtest is pressed? Thanks in advance for any help!

task Check()
{
	while( true )
 	{
 		if( SensorValue( TouchTest ) == 1)
 		{
 			SensorValue( LiftEncoder ) = 0;
 			startTask( LiftpController );
 			stopTask( Check );
		}
  	else if( SensorValue( TouchTest ) == 0)
  	{
			motorReq[ TRLift ] = (-30);
  	 	motorReq[ TLAndBLLift ] = (-30);
  	 	motorReq[ BRLift ] = (-30);
  	}
  }
}

@DavidChandler When multitasking in robotc are you able to stop a task within itself? For example, for the code below would this task stop if the sensor touchtest is pressed? Thanks in advance for any help!
task Check() { while( true ) { if( SensorValue( TouchTest ) == 1) { SensorValue( LiftEncoder ) = 0; startTask( LiftpController ); stopTask( Check ); } else if( SensorValue( TouchTest ) == 0) { motorReq[ TRLift ] = (-30); motorReq[ TLAndBLLift ] = (-30); motorReq[ BRLift ] = (-30); } } }

If I recall correctly, you are able to stop tasks within themselves.

Okay cool. Thank you!