You need not enable Timer interrupt, only enable the Timer and check the Timer Interrupt Flag once in the loop:

Main(){
  Initialize
  Start Timer, etc

  while (1){
    if (TF0) { 
      Clear TF0
      Reload Timer register
      Call WalkFunctions()
      }

    Other things 
  } 
}

If you need a variable delay, then you take the reloading value as a variable. Remember that the delay is proportional to:

256 - reload value, or 65536 - value, if 2 byte timer is used.

You can also express this as a negative char or integer, because for a char 256=0, and for integer 65536=0, did you know that ? As the timer counters are counting up, then it's clear why they should be reloaded this way.

Slobodan