Update to Verisonn 1.2

complete rework of Move-Algorithm, no position errors any more, complete
in integer math //it was the hell to debug it... ;-)
optimized timing of Ack-Answer
added command QP "Query Pen", untested, answer might be wrong 0 <--> 1?
optimized Init-String for EBBv13
optimized some variable types to enhance memory performance
changed enablePenMotor to 6 by default to match it to Spherebot
Electronics
changed default maxSpeeds from 1000 to 2000;

Helper_Functions.ino

@@ -1,12 +1,20 @@
 void initHardware(){
   pinMode(enableRotMotor, OUTPUT); 
   pinMode(enablePenMotor, OUTPUT);  
-  rotMotor.setMaxSpeed(1000.0);
+  rotMotor.setMaxSpeed(2000.0);
   rotMotor.setAcceleration(10000.0);
-  penMotor.setMaxSpeed(1000.0);
+  penMotor.setMaxSpeed(2000.0);
   penMotor.setAcceleration(10000.0);
   digitalWrite(enableRotMotor, HIGH) ;
   digitalWrite(enablePenMotor, HIGH) ;
   penServo.attach(servoPin);
   penServo.write(penUpPos);
   }
+  
+void inline sendAck(){
+	Serial.print("OK\r\n");
+}
+
+void inline sendError(){
+	Serial.print("unknown CMD\r\n");
+}