   Serial.println(F("Bx# // Gets the status of the button x."));
   Serial.println(F("Px# // Gets the position of the potentiometer x."));
   Serial.println(F("Ix# // Gets the status of infrared sensor x."));
+  Serial.println(F("G# // Prints for each motor: [sensor index, sensor type, sensor value, is whithin limits]"));
 //  Serial.println(F("PL# // sets the min (lower) position for potentiometer x."));
 //  Serial.println(F("PU# // sets the max (upper) position for potentiometer x."));
   

#include "jenny5_types.h"

byte potentiometers_pins[4] = {0, 1, 2, 3};
t_limit_pair potentiometer_limits[4] = {{500, 1000}, {0, 1023}, {200, 600}, {300, 600}};

byte ultrasonic_trig_pins[2] = {48, 50};
byte ultrasonic_echo_pins[2] = {49, 51};

            //Serial.print(infrareds_control.get_infrared_value(sensor_index));
            i++;
          }
        else
          if (tmp_str[i] == 'G' || tmp_str[i] == 'g'){// for debugging purpose
            int index;
            for(index = 0; index < motors_control.num_motors; index++) {
              Serial.print("Motor: ");
              Serial.println(index);
              for (byte j = 0 ; j < motors_control.sensors[index].count ; ++j) {
                byte sensor_index = motors_control.sensors[index].sensors_array[j].index;
                byte type = motors_control.sensors[index].sensors_array[j].sensor_type;
                Serial.print("Sensor index: ");
                Serial.print(sensor_index);
                Serial.print(", Type: ");
                
                if (POTENTIOMETER == type)
                  Serial.print("potentiometer, Value: ");
                  Serial.print(potentiometers_control.getPotentiometerValue(sensor_index));
                  Serial.print(", Is whitin limits: ");
                  Serial.println(potentiometers_control.isWithinLimits(sensor_index));
                }
            }
            i++;
        }
    }
    else
      i++;
  }
}

//--------------------------------------------------------------------------------------------
//Main loop
void loop() {

  if (!is_command_running && (Serial.available() || current_buffer[0])) {
    int num_read = 0;
    char arduino_buffer[65];
