   reset_pins();
 
   Serial.begin(9600); //Open Serial connection
-  Serial.println("jenny 5 firmaware version 2015.11.09.4");
+  Serial.print("jenny 5 firmaware version: ");
+  Serial.print(firmware_version);
   Serial.println();
   //Print function list for user selection5
   Serial.println("Commands are:");
-  Serial.println("motor index can be between 0 and num_motors - 1");
-  Serial.println("M1 100# // move motor 1 to 100 steps");
-  Serial.println("D1#  // Disable 1");
-  Serial.println("S1 100# // set speed of motor 1 to 100");
-  Serial.println("A1 100# // set acceleration of motor 1 to 100");
-
+  Serial.println("Mx y# // Moves motor x with y steps. If y is negative the motor runs in the opposite direction.");
+  Serial.println("Dx#  // Disables motor x.");
+  Serial.println("Sx y# // Sets speed of motor x to y");
+  Serial.println("Ax y# // Sets acceleration of motor x to y");
+  Serial.println("Motor index can be between 0 and num_motors - 1");
+  Serial.println("Each command is terminated with #.");
+  
   Serial.println();
 
   current_buffer[0] = 0;


int default_motor_speed = 3200; //maximum steps per second 
int default_motor_acceleration = 800; //steps/second/second to accelerate

AccelStepper *steppers[num_motors];


#include <AccelStepper.h>

#define num_motors 4
