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A word of warning: ignore everything it says about mult-threading unless you know what you are doing. It's messy and can lead to some insanely difficult bugs.
Instead, follow RoboCon's example, as it is not multi-threaded and works just fine. Just make sure you are looking at the RoboCon source, and not ConSample as ConSample is MFC, but RoboCon is not.
--Rob
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