[Ether]

It sounds like your "driving" code has to wait for your "kicking" code to complete.

If this is the case, there are two (at least) different ways to solve this:

1) put your kicking code and driving code into separate tasks so that the OS can multitask them for you,

or

2) use a state machine for your kicker code, so that it doesn't bring everything to a halt while it's waiting for the delay