 						break; //for i
 					}
 					else { // the string is not completed ... so I must wait for more...
+						Serial.write("I break not found#");
+						Serial.flush();
 						break; // for i
 					}
 				}

		int motor_index, position;
		int num_consumed;
		int num_read = sscanf(tmp_str + i + 2, "%d%d%n", &motor_index, &position, &num_consumed);
		if (num_read == 2) {
			servos_controller.set_position(motor_index, position);
			is_command_running = 1;
			i += 2 + num_consumed;
		}
		else
			i++;// error on incomplete string (does nothing)
	}
}
//----------------------------------------------------------------------

					int motor_index;
					int motor_speed, motor_acceleration;
					int num_consumed;
					int num_read = sscanf(tmp_str + i + 2, "%d%d%d%n", &motor_index, &motor_speed, &motor_acceleration, &num_consumed);
					if (num_read != 3) {
						sprintf(tmp_serial_out, "E#");
						i += 2;
						return;
					}
						steppers_controller.set_speed_and_acceleration(motor_index, motor_speed, motor_acceleration);
						sprintf(tmp_serial_out, "SS%d#", motor_index);
						i += 2 + num_consumed;
					
				}
				else
					if (tmp_str[i + 1] == 'H' || tmp_str[i + 1] == 'h') {
						// home
						int motor_index;
						int num_consumed;
						int num_read = sscanf(tmp_str + i + 2, "%d%n", &motor_index, &num_consumed);
						if (num_read != 1) {
							sprintf(tmp_serial_out, "E#");
							i += 2;
							return;
						}
							steppers_controller.go_home(motor_index, &as5147s_controller,
#ifdef USE_POTENTIOMETERS
								&potentiometers_controller,
#endif
								&buttons_controller);
							i += 4;
						
					}
					else
						if (tmp_str[i + 1] == 'G' || tmp_str[i + 1] == 'g') {
