Parse remote commands

void Parse_Pi_Motor_Commands(void)
{
    // M1
    if ((M1.pi_state == 1) && (M1.endstop_status == UNTRIGGERED) && (M1.dir == CW) && (M1.runstate == STOPPED))
    {
        Start_M1_CW();
    }
    else if ((M1.pi_state == 1) && (M1.endstop_status == UNTRIGGERED) && (M1.dir == CCW) && (M1.runstate == STOPPED))
    {
        Start_M1_CCW();
    }
    else if (M1.pi_state == 0)
    {
        Stop_M1();
    }

    // M2
    if ((M2.pi_state == 1) && (M2.endstop_status == UNTRIGGERED) && (M2.dir == CW) && (M2.runstate == STOPPED))
    {
        Start_M2_CW();
    }
    else if ((M2.pi_state == 1) && (M2.endstop_status == UNTRIGGERED) && (M2.dir == CCW) && (M2.runstate == STOPPED))
    {
        Start_M2_CCW();
    }
    else if (M2.pi_state == 0)
    {
        Stop_M2();
    }

    // M3
    if ((M3.pi_state == 1) && (M3.endstop_status == UNTRIGGERED) && (M3.dir == CW) && (M3.runstate == STOPPED))
    {
        Start_M3_CW();
    }
    else if ((M3.pi_state == 1) && (M3.endstop_status == UNTRIGGERED) && (M3.dir == CCW) && (M3.runstate == STOPPED))
    {
        Start_M3_CCW();
    }
    else if (M3.pi_state == 0)
    {
        Stop_M3();
    }

    // M4
    if ((M4.pi_state == 1) && (M4.endstop_status == UNTRIGGERED) && (M5.endstop_status == UNTRIGGERED) && (M4.dir == CW)
            && (M4.runstate == STOPPED) && (M5.runstate == STOPPED))
    {
        Start_M4_5_CW();
    }
    else if ((M4.pi_state == 1) && (M4.endstop_status == UNTRIGGERED) && (M5.endstop_status == UNTRIGGERED) && (M4.dir == CCW)
            && (M4.runstate == STOPPED) && (M5.runstate == STOPPED))
    {
        Start_M4_5_CCW();
    }
    else if (M4.pi_state == 0)
    {
        Stop_M4_5();
    }

    // A6
    if ((A6.pi_state == 1) && (A6.endstop_status == UNTRIGGERED) && (A6.dir == CW) && (A6.runstate == STOPPED))
    {
        Start_A6_CW();
    }
    else if ((A6.pi_state == 1) && (A6.endstop_status == UNTRIGGERED) && (A6.dir == CCW) && (A6.runstate == STOPPED))
    {
        Start_A6_CCW();
    }
    else if (A6.pi_state == 0)
    {
        Stop_A6();
    }

    // A7
    if ((A7.pi_state == 1) && (A7.endstop_status == UNTRIGGERED) && (A7.dir == CW) && (A7.runstate == STOPPED))
    {
        Start_A7_CW();
    }
    else if ((A7.pi_state == 1) && (A7.endstop_status == UNTRIGGERED) && (A7.dir == CCW) && (A7.runstate == STOPPED))
    {
        Start_A7_CCW();
    }
    else if (A7.pi_state == 0)
    {
        Stop_A7();
    }

    // STPR
    if ((STPR.pi_state == 1) && (STPR.endstop_status == UNTRIGGERED) && (STPR.dir == CW) && (STPR.runstate == STOPPED))
    {
        Start_STPR_CW();
    }
    else if ((STPR.pi_state == 1) && (STPR.endstop_status == UNTRIGGERED) && (STPR.dir == CCW) && (STPR.runstate == STOPPED))
    {
        Start_STPR_CCW();
    }
    else if (STPR.pi_state == 0)
    {
        Stop_STPR();
    }
}