           if (tmp_str[i] == 'H' || tmp_str[i] == 'h'){// go home
             int motor_index;
             sscanf(tmp_str + i + 1, "%d", &motor_index);
-            motors_controller.go_home(motor_index, &potentiometers_controller);
+            stepper_motors_controller.go_home(motor_index, &potentiometers_controller);
             sprintf(serial_out, "H%d#", motor_index);
             is_command_running = 1;
             i += 2;

        int motor_index, num_steps;
        int num_read = sscanf(tmp_str + i + 1, "%d%d", &motor_index, &num_steps);
        if (num_read == 2){
          motors_controller.move_motor(motor_index, num_steps);
          is_command_running = 1;
          i += 4;
        }

void setup() 
{
  first_start = 0;
  strcpy(firmware_version, "2016.02.09.0");
  
  current_buffer[0] = 0;

