 	- Outputs ASx# when done.
 	- Example: AS0 1 A0 280 320 300 1#
 
+	// STEPPER COMMANDS
+
 	SMx y#
 	- Moves stepper motor x with y steps. If y is negative the motor runs in the opposite direction. The motor remains locked at the end of the movement. 
 	- First motor has index 0.

			} // end reading
			// LIDAR
			if (tmp_str[i] == 'L' || tmp_str[i] == 'l') {// lidar operations
				parse_and_execute_LIDAR_commands(tmp_str, str_length, i, tmp_serial_out);
				strcat(serial_out, tmp_serial_out);
				continue;
			}

	- Moves servo motor x to home position.  
	- Outputs VHx#.

	// READ SENSORS COMMANDS

	RUx# 
	- Read the distance as measured by the ultrasonic sensor x. 
	- Outputs RUx d# when the reading has been completed. 
