void step(st_mot *s, int steps_to_move)
{

  if(s->operate==0){ //check operating mode
//  s->flag = 1;
  s->steps_left = abs(steps_to_move);  // how many steps to take
  s->operate=1;
  // determine direction based on whether steps_to_mode is + or -:
  if (steps_to_move > 0) { s->direction = 0; }
  if (steps_to_move < 0) { s->direction = 1; }
  }
  //setting motor parameters

  // decrement the number of steps, moving one step each time:
    if(s->steps_left >0)
  {
     uint32_t now = HAL_GetTick();
    // move only if the appropriate delay has passed:
    if (now - s->last_step_time >= s->step_delay)
    {
      // get the timeStamp of when you stepped:
      s->last_step_time = now;
      // increment or decrement the step number,
      // depending on direction:
      if (s->direction == 1)
      {
        s->step_number++;
        if (s->step_number == s->number_of_steps) {
          s->step_number = 0;
        }
      }
      else
      {
        if (s->step_number == 0) {
          s->step_number = s->number_of_steps;
        }
        s->step_number--;
      }
      // decrement the steps left:
      s->steps_left--;
      // step the motor to step number 0, 1, ..., {3 or 10}
      stepMotor(s->step_number % 4);
    }
  }
    else if(s->steps_left == 0){
        clearPinout();
        s->operate=0;
        s->flag=0;

    }
}