If I understand your intentions correctly, what you really want is not to remove while(1) loop, but stop using threads and switch to macros.
Please, see these macro examples
VEXcode V5 Text Help - #37 by weilin
Struggling to program macros - #3 by weilin
where you use rotateTo(…, waitForCompletion=false) as the action.
If you cannot figure out the code on your own, please, describe in all details exactly what your program needs to do and I will write another macro code example.