Suprised this even compiled...

1)'var pos_cb = vector(my.x, my.y, my.z);' >>> the function 'vector' returns a VECTOR*, not a var.

2)It is in the 'idle' state forever because you are stuck inside an infinite loop. You need to either replace 'while(1)' with a condition like 'while(my.STATE != 2)' or add a 'break;' statement somewhere within the loop, so it can break out of the loop and continue executing the statements below the loop, eg. the distance test and walking animation.