             int sensor_index;
             sscanf(tmp_str + j + 1, "%d", &sensor_index);
             if (motor_type == 'S' || motor_type == 's') // attach to stepper motors controller
-              stepper_motors_controller.add_sensor(motor_index, INFRARED, sensor_index);
+              stepper_motors_controller.add_sensor(motor_index, INFRARED_ANALOG, sensor_index);
             else if (motor_type == 'D' || motor_type == 'd') // attach to DC motors controller
-              dc_motors_controller_TB6612FNG.add_sensor(motor_index, INFRARED, sensor_index);
+              dc_motors_controller_TB6612FNG.add_sensor(motor_index, INFRARED_ANALOG, sensor_index);
             j += 2;
             k++;
           }


  Serial.println(F("CP n p1 l1 h1 _h1 _d1 p2 l2 h2 _h2 _d2# // Creates the potentiometers controller and set some of its parameters. n is the number of potentiometers, p is the output pin, l, h and _h are bottom, upper and home position, _d is the directon of the sensor relative to the direction in which the motor is moving. Outputs CP# when done."));
  Serial.println(F("CU n t1 e1 t2 e2# // Creates the ultrasonic controller and set some of its parameters. n is the number of sonars, t and e are trigger and echo pins. Outputs CU# when done."));
  Serial.println(F("CI n pin1 min1 max1 home1 dir1 pin2 min2 max2 home2 dir2# // Creates the infrared controller and set some of its parameters. n is the number of infrared sensors, p is the analog pin and min, max and home are the lower, upper bounds and home position of this sensor. Outputs CI# when done."));
  Serial.println(F("CB n p1 p2# // Creates the buttons controller and set some of its parameters. n is the number of button sensors, p is the digital pin. Outputs CB# when done."));
  Serial.println(F("CTR# // Creates the Tera Ranger One controller. Outputs CTR# when done."));


void setup()
{
  first_start = 0;
  strcpy(firmware_version, "2016.07.15.1");

  current_buffer[0] = 0;

