           stepper_motors_controller.set_speed_and_acceleration(motor_index, motor_speed, motor_acceleration);
           i += 2 + num_consumed;
         }
+		else
+			if (tmp_str[i + 1] == 'H' || tmp_str[i + 1] == 'h') {// home
+				int motor_index;
+				int num_consumed;
+				sscanf(tmp_str + i + 2, "%d", &motor_index, &num_consumed);
+				stepper_motors_controller.go_home(motor_index, &potentiometers_controller, &infrared_analog_sensors_controller, &buttons_controller);
+				i += 4;
+			}
 			else
 				i++;
 			continue;

		  continue;
	  }

      // go home
      if (tmp_str[i] == 'H' || tmp_str[i] == 'h') {
        int motor_index;
        if (tmp_str[i + 1] == 'S' || tmp_str[i + 1] == 's') { // go stepper home
          sscanf(tmp_str + i + 2, "%d", &motor_index);
          stepper_motors_controller.go_home(motor_index, &potentiometers_controller, &infrared_analog_sensors_controller, &buttons_controller);
        }
        else if (tmp_str[i + 1] == 'D' || tmp_str[i + 1] == 'd') { // go DC home
          sscanf(tmp_str + i + 2, "%d", &motor_index);
          dc_motors_controller_TB6612FNG.go_home(motor_index, &buttons_controller);

        i += 4;
        continue;
      }
	  */
      // sets something
/*
      if (tmp_str[i] == 'S' || tmp_str[i] == 's') {
