Tasks in vex code v5 pro using comp template

Hey! I’ve been reading a few forum posts lately about tasks and I want to use multithreading for my flywheel pid loop.

Would someone give me an easy to read synopsis of task syntax in vex code pro v5 and if it is possible? and would this line of code in int main() change anything about the usability of tasks in vex? Competition.bStopAllTasksBetweenModes = true;

I also want to know what type of function a vex task would have to be in (int, void, etc.) and the syntax to stop an individual task as well. And would you have to use a while loop in a task function?

It would be great if someone provided code examples. Thanks!

VEXcode has some examples for using threads (same thing as tasks).

You may wish to read through this topic