     uint8_t speed = 20;
     uint8_t accel = 20;
 };
+struct PlannerPoint
+{
+};
+struct SystemStatus
+{
+    bool running = false;
+    long currentPosition[NUM_AXIS];
+    long targetPosition[NUM_AXIS];
+};
+SystemStatus _sys;
+PlannerPoint _points[STATES_COUNT];
 MotionState _states[STATES_COUNT];
 MotionState _state;
 CommandState _commState;

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

}
void lineTo(long x, long y)
{
    waitingPushPoint();
    openPower();
#ifdef DEBUG
    String str = "line:";
