Is multi tasking the only way to be able to do 3 tasks in a single program??
EDIT:
We actually got it to compile but it would not do anything

. We also edited the program a bit.
*Warning*:There are possible simultaneous variable memory access conflicts for
subroutine 'startMotor' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
*Warning*:There are possible simultaneous variable memory access conflicts for
subroutine 'stopMotor' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
*Warning*:There are possible simultaneous variable memory access conflicts for
subroutine 'untilEncoderCounts' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
*Warning*:Unreferenced task 'taskPincerMotor'
*Warning*:Mismatched typedefs. Converting typedef 'tMotor' to typedef 'tSensors', value 'limitSwitch'
*Warning*:Unreferenced task 'taskArmMotor'
**Info***:There are possible simultaneous variable memory access conflicts for
subroutine 'untilEncoderCounts' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
**Info***:There are possible simultaneous variable memory access conflicts for
subroutine 'startMotor' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
**Info***:There are possible simultaneous variable memory access conflicts for
subroutine 'stopMotor' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
*Warning*:Unreferenced task 'taskBaseMotor'
**Info***:There are possible simultaneous variable memory access conflicts for
subroutine 'untilEncoderCounts' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
**Info***:There are possible simultaneous variable memory access conflicts for
subroutine 'startMotor' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
**Info***:There are possible simultaneous variable memory access conflicts for
subroutine 'untilEncoderCounts' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
**Info***:There are possible simultaneous variable memory access conflicts for
subroutine 'stopMotor' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
**Info***:There are possible simultaneous variable memory access conflicts for
subroutine 'untilEncoderCounts' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
**Info***:There are possible simultaneous variable memory access conflicts for
subroutine 'startMotor' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
**Info***:There are possible simultaneous variable memory access conflicts for
subroutine 'untilEncoderCounts' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'
**Info***:There are possible simultaneous variable memory access conflicts for
subroutine 'stopMotor' called from multiple tasks 'taskArmMotor' and 'taskBaseMotor'