Oz Step Counter

#include <OzIDManager.h>
#include <OzStepCounter.h>

//define global pointers
OzIDManager* manager;
OzStepCounter* counter;

void setup()
{
	Serial.begin(115200);
	while (!Serial) {}

	manager = new OzIDManager;
  	manager->_sendACK = true;
  	manager->_checksum = true;

	OzCommunication::setIDManager(manager);

	//define the number of axes:
	counter = new OzStepCounter(4);
	//STEPX: pin 21; DIRX: pin 11;
	//STEPY: 20; DIRY: 10;
	//STEPZ: 19; DIRZ: 9;
	//STEPA: 18; DIRA: 8;
	//STEPB: 2; DIRB: 7;
	//STEPC: 3; DIRC: 6;
	manager->PrintWelcomeLine(manager, 1);
	manager->PrintWelcomeLine(counter, 2);
}

void loop()
{
	OzCommunication::communicate();
	counter->ownLoop();
}

ISR(INT0_vect) { //X motor
	counter->_counted_steps[0]++;
	counter->time_of_last_step = millis();
	if (counter->_stepping[0] == false) { //It needs for the 'went' event
		counter->_stepping[0] = true;
		counter->went_event_sent = false;
		counter->_motordir[0] = counter->_DIRX_pin->read();
	}
}

ISR(INT1_vect) { //Y motor
	counter->_counted_steps[1]++;
	counter->time_of_last_step = millis();
	if (counter->_stepping[1] == false) { //It needs for the 'went' event
		counter->_stepping[1] = true;
		counter->went_event_sent = false;
		counter->_motordir[1] = counter->_DIRY_pin->read();
	}
}

ISR(INT2_vect) { //Z motor
	counter->_counted_steps[2]++;
	counter->time_of_last_step = millis();
	if (counter->_stepping[2] == false) { //It needs for the 'went' event
		counter->_stepping[2] = true;
		counter->went_event_sent = false;
		counter->_motordir[2] = counter->_DIRZ_pin->read();
	}
}

ISR(INT3_vect) { //A motor
	counter->_counted_steps[3]++;
	counter->time_of_last_step = millis();
	if (counter->_stepping[3] == false) { //It needs for the 'went' event
		counter->_stepping[3] = true;
		counter->went_event_sent = false;
		counter->_motordir[3] = counter->_DIRA_pin->read();
	}
}

ISR(INT4_vect) { //B motor
	counter->_counted_steps[4]++;
	counter->time_of_last_step = millis();
	if (counter->_stepping[4] == false) { //It needs for the 'went' event
		counter->_stepping[4] = true;
		counter->went_event_sent = false;
		counter->_motordir[4] = counter->_DIRB_pin->read();
	}
}

ISR(INT5_vect) { //C motor
	counter->_counted_steps[5]++;
	counter->time_of_last_step = millis();
	if (counter->_stepping[5] == false) { //It needs for the 'went' event
		counter->_stepping[5] = true;
		counter->went_event_sent = false;
		counter->_motordir[5] = counter->_DIRC_pin->read();
	}
}