2 tasks at once in autonomous with robotc

Programming Support ROBOTC Tech Support
#1

So I have been trying to multitask in robotc. Multitasking such as making my robot drive and lift the lift at the same time in autonomous. But I can’t figure out how to do that. Any help will be appreciated.

#2

Here is a simple example showing how to start two additional tasks during the autonomous period.

task drive() {
    nMotorEncoder port1 ] = 0;

    motor port1  ] = 100;
    motor port10 ] = 100;
    while( nMotorEncoder port1 ] < 1000 ) {
      wait1Msec(25);
    }
    motor port1  ] = 0;
    motor port10 ] = 0;
}

task claw() {
    motor port2 ] = 100;
    wait1Msec(1000);
    motor port2 ] = 0;
}

task autonomous()
{
  // ..........................................................................
  // Insert user code here.
  // ..........................................................................

  // Remove this function call once you have "real" code.
  AutonomousCodePlaceholderForTesting();

  startTask( drive );
  startTask( claw );

  while(1) {
    // do something else
    wait1Msec(10);
  }
}
#3