Tuto to fungovalo XACTUAL

        // TEST NA CITANIE XACTUAL
        // Get the current position and send it over UART
        if(HAL_GetTick() - lastTick2>= interval2)
        {
            lastTick2 = HAL_GetTick();
            resultInteger = getPosition(MOTOR3);
            sprintf(msgXActual, "XActual %d\r\n", resultInteger);
            HAL_UART_Transmit_IT(&huart2, (uint8_t*)msgXActual, strlen(msgXActual));


        }


        if(HAL_GetTick() - lastTick >= interval)
        {
            lastTick = HAL_GetTick();

            // Get the current position and send it over UART


            // Change direction based on current direction.
            // You may include additional conditions based on resultInteger if needed.
            if(resultInteger == 0){
                poloha = 1000;
                rychlost = 200;
                setPos(poloha, rychlost, MOTOR3);
            }else if(resultInteger == 1000){
                poloha = 2000;
                rychlost = 300;
                setPos(poloha, rychlost, MOTOR3);
            }else if(resultInteger == 2000){
                poloha = 3000;
                rychlost = 500;
                setPos(poloha, rychlost, MOTOR3);
            }else if(resultInteger == 3000){
                poloha = 4000;
                rychlost = 700;
                setPos(poloha, rychlost, MOTOR3);
            }else if(resultInteger == 4000){
                poloha = 5000;
                rychlost = 1000;
                setPos(poloha, rychlost, MOTOR3);
            }else if(resultInteger == 5000){
                poloha = 0;
                rychlost = 800;
                setPos(poloha, rychlost, MOTOR3);
            }
//
//          if(resultInteger >= 5000)
//          {
//              direction = false;
//              setPos(0, 400, MOTOR3);
//          }
//          else if(resultInteger <= 0)
//          {
//              direction = true;
//              setPos(5000, 400, MOTOR3);
//          }
        }