             if (_sys.time < _sys.maxTime)
             {
                 _sys.time += _sys.defaultAcceleration;
-                Serial.print("state:");
-                Serial.print(_sys.isRunningState);
-                Serial.print(" - ");
-                Serial.print("time:");
-                Serial.println(_sys.time);
+            }
+            else
+            {
             }
             break;
         }

    _sys.statesLength--;
    if (_sys.statesLength <= 0)
    {
        if (!_sys.isFinish)
        {
            _sys.isFinish = true;
            finishCommand();
        }
    }
}
void calcPlanned()
{
    if (_sys.plannedLength < 2 && _sys.statesLength > 1)
    {
        MotionState currentState = _sys.state;
        shiftState();
        MotionState nextState = _sys.state;
        PlannerPoint point;
        point.dir[0] = currentState.targetPosition[0] < nextState.targetPosition[0];
        point.dir[1] = currentState.targetPosition[1] < nextState.targetPosition[1];
        point.targetCount[0] = abs(nextState.targetPosition[0] - currentState.targetPosition[0]);
        point.targetCount[1] = abs(nextState.targetPosition[1] - currentState.targetPosition[1]);
        point.delta[0] = abs(point.targetCount[0]);
        point.delta[1] = abs(point.targetCount[1]);
        point.totalCount = point.delta[0] + point.delta[1];
        point.enterSpeed = _sys.plannedIndex > 0 ? _sys.points[_sys.plannedIndex - 1].exitSpeed : _sys.defaultSpeed;
        point.speed = fmax(1, currentState.speed);
        point.exitSpeed = fmax(1, sqrt(nextState.speed));
        point.acceleration = currentState.acceleration;
        long dist = sqrt(point.delta[0] * point.delta[0] + point.delta[1] * point.delta[1]) / 2;
        point.accelCount = point.totalCount - min(dist, _sys.defaultAccelCount);
        point.decelCount = min(dist, _sys.defaultDecelCount);
        point.power = nextState.power;
        point.err = (point.delta[0] > point.delta[1] ? point.delta[0] : -point.delta[1]) / 2;
        _sys.points[_sys.plannedIndex] = point;
        _sys.plannedIndex++;
        _sys.plannedLength++;
    }
}
/**

        steppers[i].disableOutputs();
    }
    Serial.println("opened");
    moveTo(0, 0);
}

void loop()
