 
 	RAx# 
 	- Read the value of AS5147 sensor. 
-	Outputs RAx v#, where v is the angle.
+	- Outputs RAx v#, where v is the angle.
 
 	RMx# 
 	- Free memory. 
 	- Outputs RM v#, where v is the number of free bytes.
+
+
+	// LiDAR commands
+	LG#
+	- Lidar Go - starts the LiDAR. A stream of distances is sent to the serial port. 
+	- Each data from LiDAR has the format L angle distance#, where angle is between 0 and 359 and distance is read by TeraRanger One.
+
+	LH#
+	- Lidar Halt - stops the LiDAR.
+	- Outputs LH# when done.
+
+	LS speed acceleration#
+	- Sets the speed and acceleration of the stepper motor of the LiDAR.
+	- Outputs LS# when done.
+
+
+	// OTHERS
+	
+	E#
+	- The firmware can output this string if there is something wrong with a given command.
+
+	I information#
+	- The firmware can output this string containing usefull information about the progress of a command.
 
   */
 

	- Outputs ASx# when done.
	- Example: AS0 1 A0 280 320 300 1#

	SMx y#
	- Moves stepper motor x with y steps. If y is negative the motor runs in the opposite direction. The motor remains locked at the end of the movement. 
	- First motor has index 0.

	- Moves servo motor x to home position.  
	- Outputs VHx#.

	// READ SENSORS COMMANDS

	RUx# 
	- Read the distance as measured by the ultrasonic sensor x. 
	- Outputs RUx d# when the reading has been completed. 
