             dataOut[completo] = dataIn * (100800 / 360) + 20500000;
           }
           Serial.print(tag);
+          Serial.print(dataIn);
+          Serial.print(" // ");
+          Serial.println(dataOut[completo]);
           completo++;
           break;
         case 's':
           dataOut[completo] = 15500000;
-          completo = 6;
+          Serial.print("Stop // ");
+          Serial.println(dataOut[completo]);
+          Serial2.print(dataOut[completo]);
+          completo++;
           break;
         case 'z':
+          Serial.println("z");
+          Serial.println(dataOut[completo]);
           switch (dataIn) {
             case 1:
-              dataOut[completo] = 4500000;
-              completo = 6;
+              Serial.print("zerosA // ");
+              Serial.println(4500000);
               break;
             case 2:
-              dataOut[completo] = 5500000;
-              completo = 6;
+              Serial.print("zerosB // ");
+              Serial.println(5500000);
               break;
             case 3:
-              dataOut[completo] = 12500000;
-              completo = 6;
+              Serial.print("zerosC // ");
+              Serial.println(12500000);
               break;
             case 4:
-              dataOut[completo] = 13500000;
-              completo = 6;
+              Serial.print("zerosD // ");
+              Serial.println(13500000);
               break;
             case 5:
-              dataOut[completo] = 14500000;
-              completo = 6;
+              Serial.print("zerosE // ");
+              Serial.println(14500000);
               break;
             default:
               Serial.println("motore non esistente");
               break;
-          }
-          break;
+          completo++;
+          }
+          break;
+        case 'g':
+          for (uint8_t i = 0; i<completo; i++) {
+            Serial.println(dataOut[completo]);
+            Serial2.print(dataOut[completo]);
+          }
+
         default:
           Serial.println("comando inesistente");
           break;

            dataOut[completo] = dataIn * (100800 / 360) + 16500000;
          }
          Serial.print(tag);

          Serial.print(dataIn);
          Serial.print(" // ");
          Serial.print(dataOut[completo]);
          Serial.print(" // ");
          Serial.println(completo);

          completo = 6;
          break;
        case 'b':   //pos B
          dataOut[completo] = dataIn * (100800 / 360) + 2500000;
          Serial.print(tag);

          Serial.print(dataIn);
          Serial.print(" // ");
          Serial.print(dataOut[completo]);
          Serial.print(" // ");
          Serial.println(completo);

          completo++;
          break;
        case 'B':   //vel B

            dataOut[completo] = dataIn * (100800 / 360) + 17500000;
          }
          Serial.print(tag);
          Serial.print(dataIn);
          Serial.print(" // ");
          Serial.println(dataOut[completo]);
          completo++;
          break;
        case 'c':   //pos C
          dataOut[completo] = dataIn * (100800 / 360) + 6500000;
          Serial.print(tag);
          Serial.print(dataIn);
          Serial.print(" // ");
          Serial.println(dataOut[completo]);
          completo++;
          break;
        case 'C':
