Time Trigger

#include <DRV8825.h>
#include "Ultrasonic.h"
#include <FlexiTimer2.h>
#include <DS1307.h>

#define STEP1 8
#define STEP2 9
#define STEP3 10

#define DIR1 5
#define DIR2 6
#define DIR3 7

Ultrasonic ultrasonic1(2);
Ultrasonic ultrasonic2(3);

DS1307 clock;//define a object of DS1307 class

int pre_h = 0;
int pre_m = 0;
int pre_s = 0;

int delta_h = 0;
int delta_m = 0;
int delta_s = 0;

bool s_run = 0;
bool m_run = 0;
bool h_run = 0;
bool run_flag = 0;

void step(int n,int pin)
{
  for(int i=0;i<n;++i)
  {
    digitalWrite(pin,HIGH);
    delayMicroseconds(200);
    digitalWrite(pin,LOW);
    delayMicroseconds(200);
  }
}

void test()
{
    step(320,STEP1);
    step(320,STEP2);
    step(320,STEP3);
}

void Clock()
{
  if(run_flag == 1)
  {
    delta_s = clock.second - pre_s;
    delta_m = clock.minute - pre_m;
    delta_h = clock.hour - pre_h;
    if(delta_s<0) delta_s += 60;
    if(delta_m<0) delta_m += 60;
    if(delta_h<0) delta_h += 60;

    step(320*delta_s,STEP1);
    step(320*delta_m,STEP2);
    step(400*delta_h,STEP3);
    
    pre_h += delta_h;
    pre_m += delta_m;
    pre_s += delta_s;
    
    if(pre_h>=60) pre_h %= 60;
    if(pre_m>=60) pre_m %= 60;
    if(pre_s>=60) pre_s %= 60;   
    
    delta_s = 0;
    delta_m = 0;
    delta_h = 0;

    run_flag = 0;
  }
}

void setup() 
{
  Serial.begin(115200);
  pinMode(STEP1,OUTPUT);
  pinMode(STEP2,OUTPUT);
  pinMode(STEP3,OUTPUT);
  pinMode(DIR1,OUTPUT);
  pinMode(DIR2,OUTPUT);
  pinMode(DIR3,OUTPUT);
  digitalWrite(DIR1,HIGH);
  digitalWrite(DIR2,HIGH);
  digitalWrite(DIR3,LOW);
  pre_h = 0;
  pre_m = 0;
  pre_s = 0;
  run_flag = 1;
  clock.begin();
  clock.getTime();
  FlexiTimer2::set(10, 1.0/1000, Clock);
  FlexiTimer2::start();
}

void loop() 
{
  clock.getTime();
  ultrasonic1.MeasureInCentimeters();
  ultrasonic2.MeasureInCentimeters();
  if(ultrasonic1.RangeInCentimeters<=60||ultrasonic2.RangeInCentimeters<=60)
  {
    run_flag = 1;
  }else
  {
    run_flag = 0;
  }
}