Tasks in C++

[VCEmblem]

Hello. My team has been needing to perform more than one function for competition, however, we have absolutely no idea how to multitask in Wind River. We've created a function that calculates the angle needed for our shooter to throw Frisbees directly into the goal.

We've experimented with using functions before, but when we use them user control is unresponsive until the function ends. To solve this in the past in RobotC for VEX, we've used multitasking to run functions while performing other tasks. My programming team and I have been attempting to use multitasking for FRC this year, yet we're clueless on how to proceed.

Here's our current version of the code: http://pastebin.com/RWhNkMXY
The segment of code in question is the function called "shoot." We want to be able to run that function as a separate task.

Any help and suggestions would be much appreciated