can i make it so my raspberry pi differential drive mobile robot doesn't stop moving when sending digital signals to its motors in a for loop ?

I have a differential drive mobile robot that is based on a raspberry pi, i control the right speed and left speed, i have converted those to linear and angular speed for better model for my control objective, i designed a controller for it and it generates a vector containing the optimal linear velocities and angular velocities.

after that, i designed a function called "move" to drive the robot, here it is;

function move(speed,turn,ti)

%UNTITLED Summary of this function goes here

% Detailed explanation goes here

EnaA = 12; In1A = 23; In2A = 24; EnaB = 18; In1B = 25; In2B = 8;

IR1 = 20; IR2 = 26;

rpi = evalin('base','rpi');%rpi = raspi;

configurePin(rpi,20,'DigitalInput');

configurePin(rpi,26,'DigitalInput');

% if readDigitalPin(rpi,20)

% writePWMDutyCycle(rpi,EnaA,0);

% writePWMDutyCycle(rpi,EnaB,0);

% return

% end

% while (readDigitalPin(rpi,20) || readDigitalPin(rpi,20)) == true

% leftSpeed = (1/0.066)*(speed - 0.0500*turn)

% rightSpeed = (1/0.066)*(speed + 0.0500*turn)

leftSpeed = speed - turn

rightSpeed = speed + turn

% leftSpeed = ((leftSpeed+ 15.1515)/(2*15.1515))*(2)- 1

% rightSpeed = ((rightSpeed+ 15.1515)/(2*15.1515))*(2)- 1

% turn = (2*(turn)/(2*0.05))-1

% leftSpeed = 2*(leftSpeed +15.1515)/(2*15.1515) - 1

% rightSpeed = 2*(rightSpeed +15.1515)/(2*15.1515) - 1

% rightSpeed = normalize(rightSpeed,'center','mean')

if leftSpeed > 1

leftSpeed = 1;

elseif leftSpeed < -1

leftSpeed = -1;

end

if rightSpeed > 1

rightSpeed = 1;

elseif rightSpeed < -1

rightSpeed = -1;

end

if leftSpeed > 0 && leftSpeed < 0.5

leftSpeed = 0.5;

elseif leftSpeed < 0 && leftSpeed > -0.5

leftSpeed = -0.5;

end

if rightSpeed > 0 && rightSpeed < 0.5

rightSpeed = 0.5;

elseif rightSpeed < 0 && rightSpeed > -0.5

rightSpeed = -0.5;

end

Stop(rpi ,In1A, In2A, In1B ,In2B)

writePWMDutyCycle(rpi,EnaA,abs(leftSpeed));

writePWMDutyCycle(rpi,EnaB,abs(rightSpeed));

if leftSpeed > 0

writeDigitalPin(rpi,In1A,1);

writeDigitalPin(rpi,In2A,0);

else

writeDigitalPin(rpi,In1A,0);

writeDigitalPin(rpi,In2A,1);

end

if rightSpeed > 0

writeDigitalPin(rpi,In1B,1);

writeDigitalPin(rpi,In2B,0);

else

writeDigitalPin(rpi,In1B,0);

writeDigitalPin(rpi,In2B,1);

end

% if nargin == 2

% continue

% else

pause(ti)

% N = 10*ti;

% if (readDigitalPin(rpi,20) || readDigitalPin(rpi,20)) == true

% pause(ti)

% else

% writePWMDutyCycle(rpi,EnaA,0);

% writePWMDutyCycle(rpi,EnaB,0);

% end

writePWMDutyCycle(rpi,EnaA,0);

writePWMDutyCycle(rpi,EnaB,0);

% end

the signal generated by the controller is discrete and containted between 1 and - 1, but when i use it like this

for i = 1: length(v_opt)

move(v_opt,w_opt,0.01) % v_opt and w_opt are the generated signals from the controller

end

i suspect that the problem is in pause function, but after many many attempts i still dont have a solution to this, please help.