Libraries

Hi,
Thank you for your help in advance!
I am working on a project in which we are using an arduino mega 2560 to control a 6DOF robotic arm. The arm has 3 Maxon DC motors, a servo, small dc, and stepper motors. There has been a GNC (guidence, navigation, control) simulation created in matlab/simulink and the code was outputted to C for a header file. My question is that of can the entire code be called within arduino ide or can only a section of the code at a time be called and how might this be done. In the past this code was on an odriod with signals being sent over ROS however the update to the project requires the code be introduced onto the arduino for improved functionality. There are 6 digital inputs being received over ROS from a controller which need to be sent through the code. What command would be used to call the entirety of the file ? Or would this work in the same method as servo.h where no call is necessary besides ‘#include<Servo.h>’ .

jamesdormer:
There has been a GNC (guidence, navigation, control) simulation created in matlab/simulink and the code was outputted to C for a header file.

can you post that file?