Running Loop in Parallel

[AquaMorph]

I am working on a program that will set the angle of a shooter. The program is attached below. The program works but when active it everything else in teleop stops running until the loops finish. I know this is because it has to run the entire loop before it can continue on doing other things. After doing some research I think I need to move this vi to Periodic Tasks. Will this allow me to run this program and drive at the same time? Also can I use joystick buttons in Periodic Tasks the same way I would in Teleop?