Электромотоцикл с гироскопом и регенерацией

#include <Wire.h>
#include "ITG3200.h"

ITG3200 gyro;

const byte stepPin = 7;
const byte directionPin = 8;
const byte enablePin = 11;
 
int delayTime = 20;

int flg;
int16_t x,y,z;
int16_t oldvl,tmp;
 
void setup() {
  pinMode(stepPin, OUTPUT);
  pinMode(directionPin, OUTPUT);
  pinMode(enablePin, OUTPUT);

Serial.begin(9600);
 gyro.init();
 gyro.zeroCalibrate(200,10);//sample 200 times to calibrate and it will take 200*10ms
Serial.print("PRIVET SergeiNSK  !!");
delay(500);
oldvl=0;
flg=0;
 }

void loop()
{
	gyro.getXYZ(&x,&y,&z);

	if(oldvl>x && flg==0){
		tmp=oldvl-x;
		oldvl=x;
		flg=1;
	}
	if(oldvl<x && flg==0){
		tmp=x-oldvl;
		oldvl=x;
		flg=2;
	}
	if(flg==1){
		digitalWrite(enablePin, HIGH);
		digitalWrite(directionPin, HIGH);
		
		for (int i = 0; i < tmp; ++i) {
			digitalWrite(stepPin, HIGH);
			delay(delayTime);
			digitalWrite(stepPin, LOW);
			delay(delayTime);
		}
		analogWrite(enablePin, 100);
		flg=0;
	}
	if(flg==2){
		digitalWrite(enablePin, HIGH);
		digitalWrite(directionPin, LOW);
		
		for (int i = 0; i < tmp; ++i) {
			digitalWrite(stepPin, HIGH);
			delay(delayTime);
			digitalWrite(stepPin, LOW);
			delay(delayTime);
		}
		analogWrite(enablePin, 100);
		flg=0;
	}

delay(20);
 }