Can someone please explain to me what exactly is happening in this section of the demo code? I am under the impression that endTime should[?] make the Rapiro Robot stop doing his motion, but I can't seem to make that work.

if(endTime > millis()) {
remainingTime = (endTime - millis()) / 10;
for( i = 0; i < MAXSN; i++) {
nowAngle[i] = targetAngle[i] - (deltaAngle[i] * remainingTime);
servo[i].write((nowAngle[i] >> SHIFT) + trim[i]);
}
for( i = 0; i < 3; i++) {
nowBright[i] = targetBright[i] - (deltaBright[i] * remainingTime);
analogWrite(eyes[i], nowBright[i] >> SHIFT);
}
} else if(mode == 'M') {
nextFrame();
} else if(mode == 'P') {
if(bufferTime > 0){
nextPose();
} else if(endTime + 500 < millis()){
//digitalWrite(POWER, LOW);
}
}
}