The VCS/VEXcode scheduler is very similar to the ROBOTC scheduler. There are some differences due to the fact that ROBOTC was running as a virtual machine and had more control over when exactly the task switching could occur, however, the concepts are very similar.
startTask( myTask ) becomes vex::task taskId( myTask )
wait1Msec(10) becomes task::sleep(10)
AbortTimeSlice() becomes task::yield()
and so on.
(and I fixed the broken links in the original topic)