-static volatile int16_t speed1=0;
-static volatile int16_t speed2=0;
-static volatile int16_t speed3=0;
-static volatile int16_t speed4=0;
-static volatile int16_t eold1=0;
-static volatile int16_t eold2=0;
-static volatile int16_t eold3=0;
-static volatile int16_t eold4=0;
-static volatile int32_t esum1=0;
-static volatile int32_t esum2=0;
-static volatile int32_t esum3=0;
-static volatile int32_t esum4=0;
-static volatile int16_t pos1_last=0;
-static volatile int16_t pos2_last=0;
-static volatile int16_t pos3_last=0;
-static volatile int16_t pos4_last=0;
+static volatile uint8_t run_pid=0;
+static int16_t speed1=0;
+static int16_t speed2=0;
+static int16_t speed3=0;
+static int16_t speed4=0;