I stole the DelayMS code from
Generally speaking delays that long should be done with a timer and then get out of there, do something else and then when the timer times out do whatever you want to do at the end of timeout. For a simple program it usually does not matter how you delay, but when much is going on wait loops can be a killer.

If you were to implement timer delay in what you have, you would do the walk in the timer ISR. Then Main() would basically end up idling and have plenty time for whatever you want to add to your code

Erik