   Serial.println(F("GPx# // Gets the parameters for potentiometer x: min max home. Outputs PPx l u h#"));
   Serial.println(F("GUx# // Gets the parameters for ultrasound x: trig_pin echo_pin. Outputs UPx t e#"));
   Serial.println(F("CM n d1 s1 e1 d2 s2 e2# // Creates the motors controller and set some of its parameters. n is the number of motors, d, s, e are dir, step and enable pins. Outputs CM# when done."));
+  Serial.println(F("CP n p1 l1 h1 _h1# // 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. Outputs CP# when done."));
+  Serial.println(F("CU n t1 e1# // Creates the ultrasonic controllers 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("V# // Outputs version string. eg: 2016.01.17.0#"));
 

               }
             }
             else
               if (tmp_str[i + 1] == 'U' || tmp_str[i + 1] == 'u'){// create a list of motors
               
                 int num_sonars = 0;
                 

void setup() 
{
  first_start = 0;
  strcpy(firmware_version, "2016.01.31.0");
  
  //motors_controller.set_num_motors(2);
  
