boolean linearPos(double lastxpos,double lastypos,double lastzpos,double xpos,double ypos ,double zpos)
{
        // d = delta (steppek)
        long dx = (xpos-lastxpos)/0.0006;
        long dy = (ypos-lastypos)/0.0006;
        long dz = (zpos-lastzpos)/0.0006;

        if(dx > 0)  digitalWrite(Xcw, HIGH);        //directions setup
        else  digitalWrite(Xcw, LOW);
        if(dy > 0)  digitalWrite(Ycw, HIGH);
        else  digitalWrite(Ycw, LOW);
        if(dz > 0)  digitalWrite(Zcw, HIGH);
        else  digitalWrite(Zcw, LOW);


        long res = 100;
        if(abs(dx) >= abs(dy) && abs(dx) >= abs(dz)) res = abs(dx);
        else if(abs(dy) >= abs(dx) && abs(dy) >= abs(dz)) res = abs(dy);
        else if(abs(dz) >= abs(dx) && abs(dz) >= abs(dy)) res = abs(dz);


        long eddigistepx = 0;
        long eddigistepy = 0;
        long eddigistepz = 0;

        // ilyen arányt kell tartani
        double ratex = dx/res;
        double ratey = dy/res;
        double ratez = dz/res;

        // mozgassa-e az adott tengelyen
        uint8_t movex = LOW;
        uint8_t movey = LOW;
        uint8_t movez = LOW;

        for(long i = 0;i < res;i++)
        {
                if(eddigistepx/double(i+1) < ratex)
                {
                        movex = HIGH;
                        eddigistepx++;
                }
                if(eddigistepy/double(i+1) < ratey)
                {
                        movey = HIGH;
                        eddigistepy++;
                }
                if(eddigistepz/double(i+1) < ratez)
                {
                        movez = HIGH;
                        eddigistepz++;
                }

               digitalWrite(Xclk, movex);
               digitalWrite(Yclk, movey);
               digitalWrite(Zclk, movez);
               delayMicroseconds(PULSETIME);
               digitalWrite(Xclk, LOW);
               digitalWrite(Yclk, LOW);
               digitalWrite(Zclk, LOW);
               delayMicroseconds(PULSETIME);

                movex = LOW;
                movey = LOW;
                movez = LOW;
        }

        return true;
}