RobotC tasks

I am currently trying to program a vex bot and i think you guys are properly my best beat since some of you guys used it for FRC last year.

in autonomous mode i want one task to start and lift my arm and using some limit switches and stuff position its self. but this has to happen while the robot is driving to a goal.
but when i get to the goal i want to be able to check that the task handling the arm has finished.
how do i do this?
is accessing a variable set by another task the same as if it was set in the task i am trying to access it from?


There are many great places to learn RobotC.
I would start with the robotc website,

If you want more specific answers, search the VEX Forum for more information.

If you are still having trouble, feel free to PM me.