 			
 			if (current_buffer[0]) {
 				Serial.write("I ");
-				Serial.write(current_buffer);
+				Serial.flush();
+				write_info(current_buffer);
+				Serial.flush();
 				Serial.write("/");
-				Serial.write(serial_buffer);
-
+				Serial.flush();
+				write_info(serial_buffer);
+				Serial.flush();
 				Serial.write("#");
+				Serial.flush();
 			}
 			
 #ifdef DEBUG


	tera_ranger_one_lidar = NULL;

	Serial.begin(115200); //Open Serial connection
	while (!Serial);
	while (Serial.available() > 0) 
		char t = Serial.read();
	
	//Serial.begin(57600); //Open Serial connection

	//delay(2000);

	Serial.write("T#");// initialization is over; must check for T# string (which is the alive test)
	Serial.flush();

  /*
	Serial.write("Commands are:");
	Serial.println(F("T# // test connection. Returns T#."));

			if (tmp_str[i] == 'S' || tmp_str[i] == 's') {
			  else if (tmp_str[i + 1] == 'P' || tmp_str[i + 1] == 'p') { // potentiometer min max home
				int pot_index, pot_min, pot_max, pot_home, pot_pin, pot_dir;
				int num_read = sscanf(tmp_str + i + 2, "%d%d%d%d%d%d", &pot_index, &pot_pin, &pot_min, &pot_max, &pot_home, &pot_dir);
				potentiometers_controller.set_params(pot_index, pot_pin, pot_min, pot_max, pot_home, pot_dir);
				i += 7;
			  }
			  else if (tmp_str[i + 1] == 'D' || tmp_str[i + 1] == 'd') { // dc motor speed
				int motor_index;
				int motor_speed;
				int num_read = sscanf(tmp_str + i + 2, "%d%d", &motor_index, &motor_speed);
				dc_motors_controller_TB6612FNG.set_speed(motor_index, motor_speed);
				i += 5;
			  }
