   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#"));
 

byte infrared_pins[2] = {52, 53};

t_motors_controller motors_controller;
t_potentiometers_controller potentiometers_control;
t_ultrasonic_sensors_controller ultrasonic_sensors_controller;
t_infrared_sensors_controller *infrared_sensors_control;


                int pot_index, pot_min, pot_max, pot_home;
                byte pot_pin;
                sscanf(tmp_str + i + 2, "%d", &pot_index);
                potentiometers_controller.get_params(pot_index, &pot_pin, &pot_min, &pot_max, &pot_home);
                sprintf(serial_out, "PP%d %d %d %d %d#", pot_index, (int)pot_pin, pot_min, pot_max, pot_home);
                i += 4;
              }
