                     motorZ.rotateSteps(-posZ);
                     succes();
                 } else {
-                    Serial.write("err not configured\n");
+                    errConf();
                 }
             case '!': // set config
                 while (!Serial.available());

                        break;
                    case '!': // unset reference point
                        configured = false;
                        break;
                    default:
                        Serial.write("err unknown config\n");

    while(!Serial);
}

void setPos(int & pos, Motor & motor) {
    if (!configured) {
        errConf();
        return();
    }
    int to = Serial.parseInt();
    motor.rotateSteps(to - pos);
    pos = to;
    succes();
}

void cmdMotor(int & pos, Motor & motor) {
    int steps = Serial.parseInt();
    pos += steps;
