         }
     }
   }
-  motors_control.run_motors(potentiometers_control);
+  motors_control.run_motors(potentiometers_control, serial_out);
+  if (serial_out[0])
+    Serial.write(serial_out);
+  
 }
 //------------------------------------------------------------------------------

//Main loop
void loop() 
{

  if (Serial.available() || current_buffer[0]) {
    int num_read = 0;
    char serial_buffer[65];
  
    //num_read = Serial.readBytes(serial_buffer, 64); //Read up to 64 bytes
    
    serial_buffer[0] = Serial.read();
    num_read = 1;
    serial_buffer[num_read] = 0;// terminate the string
    if (serial_buffer[0] || current_buffer[0]){
      strcat(current_buffer, serial_buffer);


current_buffer[0] = 0;

  Serial.begin(115200); //Open Serial connection
  
  Serial.write("Jenny 5 firmware version: ");
  Serial.write(firmware_version);
