[Toa Circuit]

You will never need to use Boost or any external libraries for any multithreading in C++ for FRC, so save yourself some headaches and just WPILib because it works like a charm.

Here's some code that makes a separate thread to flip the state of a relay, which is spawned at TeleopInit, and killed off at DisabledInit.

class Robot: public SimpleRobot{
  Task secondThread;
  Relay *relay;
 public:
  Robot():
   secondThread("SecondThread",(FUNCPTR) Robot::threadFunction)
  {
   relay=new Relay(1);
  }

  void threadFunction(UINT32 relayPointer){
   Relay *rly=(Relay*)relayPointer;
   while(true){
    rly->Set(Relay::kForward);
    Wait(1);
    rly->Set(Relay::kReverse);
    Wait(1);
   }
  }

  void Disabled(){
   secondThread.Stop();
  }

  void Teleop(){
   secondThread.Start((UINT32) relay);
  }
};

START_ROBOT_CLASS(Robot)
;

See also:
http://www.chiefdelphi.com/forums/sh...ad.php?t=82398

If you need explanation of anything in this post, just refer to that post^