 
 String commands[COMMANDS_COUNT];
 int8_t _cmdsIndex = 0;
-
+uint8_t _plannedCount = 0;
 int8_t _power = 0;
 int16_t _speed = 0;
 int16_t _accel = 0;

#define PULSES_PER_MM 50
#define CURVE_SECTION 0.5
#define NUM_STEPS 100
// #define DEBUG true
struct MotionState
{

}
void moveTo(long x, long y)
{
    waitingPushPoint();
    closePower();
    _startX = x;
    _startY = y;
