 
 char is_command_running;
 
-char firmware_version[] = "2015.12.26.0";// year.month.day.build number
+char firmware_version[] = "2015.12.26.1";// year.month.day.build number
 
 char current_buffer[65];
 

              Serial.print(motor_speed); 
              Serial.write(' ');
              Serial.print(motor_acceleration); 
                        }
                        else
                        if (tmp_str[i + 1] == 'P' || tmp_str[i + 1] == 'p'){ // get potentiometer min max home
                int pot_index, pot_min, pot_max, pot_home;
                sscanf(tmp_str + i + 2, "%d", &pot_index);
                potentiometers_control.get_limits(pot_index, &pot_min, &pot_max, &pot_home);
                              Serial.write("PP"); // potentiometer parameters
              Serial.print(pot_index); 
              Serial.write(' ');
              Serial.print(pot_min);
              Serial.write(' ');
              Serial.print(pot_max);
              Serial.write(' ');
              Serial.print(pot_home);
              Serial.write('#'); 
                        }
                        else
                        {
                          // for all motors, unformated data
            int index;
            for(index = 0; index < motors_control.num_motors; index++) {

            int sensor_index;
            sscanf(tmp_str + i + 1, "%d", &sensor_index);
            Serial.write('I');
            Serial.print(sensor_index);
            Serial.write(' ');
            Serial.print(infrared_sensors_control.get_distance(sensor_index));
            Serial.write('#');
            i++;
          }
        else
          if (tmp_str[i] == 'G' || tmp_str[i] == 'g'){// for debugging purpose
            if (tmp_str[i + 1] == 'M' || tmp_str[i + 1] == 'm'){ // get motor speed and acceleration
              int motor_index, motor_speed, motor_acceleration;
              sscanf(tmp_str + i + 2, "%d", &motor_index);
              motors_control.get_motor_speed_and_acceleration(motor_index, &motor_speed, &motor_acceleration);
