           if (tmp_str[i] == 'H' || tmp_str[i] == 'h'){// go home
             int motor_index;
             sscanf(tmp_str + i + 1, "%d", &motor_index);
-            motors_controller.go_home(motor_index, &potentiometers_controller);
+            stepper_motors_controller.go_home(motor_index, &potentiometers_controller);
             sprintf(serial_out, "H%d#", motor_index);
             is_command_running = 1;
             i += 2;

          if (tmp_str[i] == 'L' || tmp_str[i] == 'l'){// locks motor
            int motor_index;
            sscanf(tmp_str + i + 1, "%d", &motor_index);
            motors_controller.lock_motor(motor_index);
            sprintf(serial_out, "L%d#", motor_index);
            i += 2;
          }

              int motor_index; 
              float motor_speed, motor_acceleration;
              sscanf(tmp_str + i + 2, "%d", &motor_index);
              stepper_motors_controller.get_motor_speed_and_acceleration(motor_index, &motor_speed, &motor_acceleration);
              sprintf(serial_out, "MP%d %d %d#", motor_index, (int)motor_speed, (int)motor_acceleration);
              i += 4;
            }
