[byteit101]

here is a brief overview:

#include...
Task tsk("myTask",MyTask);//creates task "tsk" identified by the name "myTask" on the cRIO, calling function MyTask
//put variables to be accesed by the task and norm. code here
RobotDrive myRobot(1,2);
class ...
...
void Auto()
{
    while (!tsk.IsReady())
    { }
    tsk.Start(1);//start MyFunction on another thread w/ args (1);
    while (IsAuto())
    {
    }
    tsk.Stop();
}
...
...
};//end of class
void MyFunction (int arg1)
{
//code using arg1
}

You can have up to 10 int args, and the function must be global