 				int motor_index;
 				int num_consumed;
 				sscanf(tmp_str + i + 2, "%d%n", &motor_index, &num_consumed);
-				stepper_motors_controller.go_home(motor_index, &potentiometers_controller, &infrared_analog_sensors_controller, &buttons_controller);
+				stepper_motors_controller.go_home(motor_index, &potentiometers_controller, &buttons_controller);
 				i += 4;
 			}
 			else
 				i++;
 			continue;
 		}
-
+		
         // dc motor
 		if (tmp_str[i + 1] == 'D' || tmp_str[i + 1] == 'd') { // DC motor
 			if (tmp_str[i + 1] == 'M' || tmp_str[i + 1] == 'm') { // stepper motor

void setup()
{
  first_start = 0;
  strcpy(firmware_version, "2017.01.02.0");

  current_buffer[0] = 0;


        }
    }
  }
  stepper_motors_controller.run_motors(&potentiometers_controller, &buttons_controller, serial_out);
  if (serial_out[0]){
    Serial.write(serial_out);
    serial_out[0] = 0;
