Ending this Function and making it play in the background?

Hey, i made a tool. When clicked, it clones a minion and is parented to workspace. It moves and follow the player. I want to make the while true do in the background, as it cannot finish the function until the while true do is stopped. I also want to do this so i could 'summon' more minions. I tried making a 'return false' but it would be an error. Is there any other ways to do this?

function MinionControl(MinionModel)
	MinionModel.PrimaryPart = MinionModel:FindFirstChild("CenterPart")
	wait(0.1)
	MinionModel:SetPrimaryPartCFrame(tool.Parent.Torso.CFrame)
	local bodyposition = Instance.new("BodyPosition")
	bodyposition.Parent = MinionModel:FindFirstChild("CenterPart")
	bodyposition.MaxForce = Vector3.new(500000000, 500000000, 500000000)
	while true do
		bodyposition.position = tool.Parent.Torso.Position + Vector3.new(math.random(-range.Value, range.Value), math.random(0, 6), math.random(-range.Value, range.Value))
		MinionModel:FindFirstChild("CenterPart").CFrame = CFrame.new(MinionModel:FindFirstChild("CenterPart").CFrame.p, tool.Parent:FindFirstChild("Torso").CFrame.p)		
		wait(0.5)
	end
end	
	
tool.Equipped:connect(function()
	tool.Activated:connect(function()
		if enabled == false and tool.Parent:FindFirstChild("Humanoid") and tool.Parent:FindFirstChild("Humanoid").Health  > 0 then
			enabled = true
			local cloneminion = minion:Clone()
			cloneminion.Name = tool.Parent.Name
			cloneminion.Parent = workspace
			MinionControl(cloneminion)
			wait(cooldown.Value)
			enabled = false
			
		end
	end)
end)

*If you put a wait() in your script, the whole script will pause until the wait time is over.

To make a script run in the background, (especially when the script is pause during wait time) make a coroutine (using coroutine.resume).

*Also, read this, this is my source. *

http://wiki.roblox.com/index.php?title=Global_namespace/Coroutine_manipulation