   stepper1.setSpeed(maxSpeed);
   stepper2.setSpeed(maxSpeed);
   stepper3.setSpeed(maxSpeed);
+  pinMode(limit1, INPUT_PULLUP);
+  pinMode(limit2, INPUT_PULLUP);
+  pinMode(limit3, INPUT_PULLUP);
+  attachInterrupt(limit1, interupt1, FALLING);
+  attachInterrupt(limit2, interupt2, FALLING);
+  attachInterrupt(limit3, interupt3, FALLING);
+  state_1 = 0;
+  state_2 = 0;
+  state_3 = 0;
+  global_state = 0;
+  callibrate();
 
   //  float initShift = 0.0; //unknown units to move all motors at boot
   /*

int lin; //do we need to change the linear actuator state
int lin_pin = 16;
int vac_pin = 15;


void move_ee(int goal1, int goal2, int goal3, int svgoal){


char vac; //vaccume
char lin_ac; //linear actuator
int limit1;
int limit2;
int limit3;

void setup()
{

