Martin help prosim

void IKMovementUpdate(void){
    int maxSize = 10;
    int segmentSize = maxSize/5; // Always divide into 5 movement segments with different velocities
    int segmentIndex = 0;
    uint16_t m_velocity = g_velocity;
    int posIndex = 0;
    float floatXActualPos3 = 0;

    static uint32_t lastTick = 0;
    uint32_t currentTick = HAL_GetTick();

    bool posReached = false;

    for(int i = 1; i < 11; i++){
        motorData3.positionBuffer[i-1] = 1500 * i;

        //motorData3.velocityBuffer[i] = 2;
    }

    float velocityBuffer[10] = {0.5, 0.5, 1, 1, 1.5, 1.5, 1, 1, 0.5, 0.5};

    setPos(motorData3.positionBuffer[0], m_velocity, MOTOR3);

    while(g_IKinProgress){


        if (currentTick - lastTick >= 500) { // 10 ms interval
            lastTick = currentTick;
            posReached = getIfPosReached(MOTOR3);
            floatXActualPos3 = getPosition(MOTOR3);


        }
        XActualPos3 = (int)floatXActualPos3;



//        floatXActualPos3 = getPosition(MOTOR3);
//
//        XActualPos3 = (int)floatXActualPos3;
//
//        posReached = getIfPosReached(MOTOR3);

        // MOTOR3
        if(XActualPos3 >= motorData3.positionBuffer[posIndex]){
        //if(posReached && posIndex < 10){
            switch (segmentIndex) {
                    case 0:
                        m_velocity = g_velocity * 0.5f;
                        break;
                    case 1:
                        m_velocity = g_velocity * 1;
                        break;
                    case 2:
                        m_velocity = g_velocity * 1.5f;
                        break;
                    case 3:
                        m_velocity = g_velocity * 1;// * motorData3.speedBuffer[posIndex];
                        break;
                    case 4:
                        m_velocity = g_velocity * 0.5f;
                        g_IKinProgress = false;
                        break;
                    default:
                        break;
                }

            posIndex++;
            //_velocity = (uint16_t) (g_velocity * velocityBuffer[posIndex]);
            setPos(motorData3.positionBuffer[posIndex], m_velocity, MOTOR3);


            if (posIndex != 0 && posIndex % segmentSize == 0) {
                segmentIndex++;
            }
        }



    }
}