         }
     }
   }
-  stepper_motors_controller.run_motors(&potentiometers_controller, &infrared_analog_sensors_controller, &buttons_controller, serial_out);
+  stepper_motors_controller.run_motors(&potentiometers_controller, &buttons_controller, serial_out);
   if (serial_out[0]){
     Serial.write(serial_out);
     serial_out[0] = 0;

				int motor_index;
				int num_consumed;
				sscanf(tmp_str + i + 2, "%d%n", &motor_index, &num_consumed);
				stepper_motors_controller.go_home(motor_index, &potentiometers_controller, &infrared_analog_sensors_controller, &buttons_controller);
				i += 4;
			}
			else
				i++;
			continue;
		}

        // dc motor
		if (tmp_str[i + 1] == 'D' || tmp_str[i + 1] == 'd') { // DC motor
			if (tmp_str[i + 1] == 'M' || tmp_str[i + 1] == 'm') { // stepper motor

void setup()
{
  first_start = 0;
  strcpy(firmware_version, "2017.01.03.0");

  current_buffer[0] = 0;

