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

            if (tmp_str[i + 1] == 'M' || tmp_str[i + 1] == 'm'){ // get motor speed and acceleration
              int motor_index, motor_speed, motor_acceleration;
              sscanf(tmp_str + i + 2, "%d", &motor_index);
              motors_control.get_motor_speed_and_acceleration(motor_index, &motor_speed, &motor_acceleration);
              sprintf(serial_out, "MP%d %d %d#", motor_index, motor_speed, motor_acceleration);
              i += 4;
            }
            else
              if (tmp_str[i + 1] == 'P' || tmp_str[i + 1] == 'p'){ // get potentiometer min max home
                int pot_index, pot_min, pot_max, pot_home;
                sscanf(tmp_str + i + 2, "%d", &pot_index);
                potentiometers_control.get_limits(pot_index, &pot_min, &pot_max, &pot_home);
                sprintf(serial_out, "PP%d %d %d %d#", pot_index, pot_min, pot_max, pot_home);
                i += 4;
              }
        }

            if (tmp_str[i + 1] == 'M' || tmp_str[i + 1] == 'm'){ // motor speed and acceleration
              int motor_index, motor_speed, motor_acceleration;
              sscanf(tmp_str + i + 2, "%d%d%d", &motor_index, &motor_speed, &motor_acceleration);
              motors_controller.set_motor_speed_and_acceleration(motor_index, motor_speed, motor_acceleration);
              i += 5;
            }
            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;
                sscanf(tmp_str + i + 2, "%d%d%d%d%d", &pot_index, &pot_pin, &pot_min, &pot_max, &pot_home);
                potentiometers_control.set_params(pot_index, pot_pin, pot_min, pot_max, pot_home);
                i += 7;
            }
          }
