 void lineTo(long x, long y)
 {
     waitingPushPoint();
-#ifdef DEBUG
-    String str = "line:";
-    str += x;
-    str += ",";
-    str += y;
-    str += ",";
-    str += _sys.speed;
-    Serial.println(str);
-#endif
+    // #ifdef DEBUG
+    //     String str = "line:";
+    //     str += x;
+    //     str += ",";
+    //     str += y;
+    //     str += ",";
+    //     str += _sys.speed;
+    //     Serial.println(str);
+    // #endif
     addMotion(x, y, _sys.power, _sys.speed, _sys.acceleration);
 }
 void addMotion(long x, long y, uint8_t power, uint8_t speed, uint8_t accelaration)

    shiftPlanned();
    calcPlanned();
    unlockTimer();
    firePower(_sys.points[0].power);
    _sys.minTime = fmax(25, 100.0 / (_sys.points[0].speed / 100.0));
    _sys.maxTime = fmin(_sys.defaultTime, _sys.defaultTime / (_sys.points[0].exitSpeed / 50.0));
}
void waitingPushPoint()
{
    while (true)
    {
        if (_sys.statesIndex <= 5)
        {
            break;
        }
        delay(100);
        // #ifdef DEBUG
        //         String str = "waiting:";
        //         str += _sys.statesIndex;

    long targetPosition[NUM_AXIS];
    long startPosition[NUM_AXIS];
    long timerCount = 0;
    long time = 1250;
    long defaultTime = 1250;
    long defaultAcceleration = 25;
    long defaultAccelCount = 50;
    long defaultDecelCount = 50;
    long maxTime = 1250;
    long minTime = 25;
    PlannerPoint points[POINTS_COUNT];
    MotionState states[STATES_COUNT];
