Help adding a loop inside a loop

[Extra]

Yes, BAXTER waits for a command, so the UserInput() is blocking it.

I tried getting around it by trying multithreading, but it drastically slows down the main loop (BAXTER()) when running the scheduler in the background.

Is there any way to prevent UserInput() from blocking the scheduler?

UserInput()

#-------------------------------------------------------------------------------------
#                                User Input Function
#-------------------------------------------------------------------------------------
def UserInput():
    command = str(Prompt.ask("[yellow]"+Commander+"[/yellow]"))
    return command 
#-------------------------------------------------------------------------------------