Hang in there it will come in time. Even an old timer hardware guy like me is slowly picking C up semicolon by semicolon.
One thing that might help you is to end the paradigm of doing more then one thing at the same time. Most normal computers only do one instruction at a time, however the fact that they can perform steps so fast in human terms in can be made to look like it's doing more then one task at a time, but it's not really.
What you are looking for is how to structure a sequence of steps that repeat forever (loop) but some steps are only manipulating things for task A while the other steps are manipulating things for task B and a few steps are just to keep the whole thing repeating over and over.
Lefty