private void updateArduinoSensors() {
		//get all actual Measurements from Arduino
		//send 23 to get the data
		RS485.hsWrite(sendBuffer,0,sendBuffer.length);
		int readBytesSumm = 0;
		int timeoutc =0;
		byte[] sensorBytes = new byte[14];
		//wait for an answer
		while (readBytesSumm < 14 && timeoutc<20) {

			readBytes = RS485.hsRead(readBuffer, 0, readBuffer.length);
			if(readBytes>0)	//arduino sends Data
			{
				for (int i = 0; i < readBytes; i++) {
					sensorBytes[readBytesSumm+i]= readBuffer[i];
				}
				readBytesSumm+=readBytes;
			}
			timeoutc ++;
			if(timeoutc>10){	//if timeout - 2nd. try
				RS485.hsWrite(sendBuffer,0,sendBuffer.length);
				readBytesSumm=0;
			}
		}
		if(timeoutc==20) return;
		this.UOdmometry		=	(double)(((sensorBytes[1])<<8) | (sensorBytes[0] & 0xff));
		this.VOdometry		=	(double)(((sensorBytes[3])<<8) | (sensorBytes[2] & 0xff));
		this.OdometryT		=   (int)((readBuffer[5]<<8) | (readBuffer[4] & 0xff));
		this.FrontSensorDistance		=	(double)(((sensorBytes[7] & 0xff)<<8) | (sensorBytes[6] & 0xff));
		this.FrontSideSensorDistance	=	(double)(((sensorBytes[9] & 0xff)<<8) | (sensorBytes[8] & 0xff));
		this.BackSensorDistance		=		(double)(((sensorBytes[11] & 0xff)<<8) | (sensorBytes[10] & 0xff));
		this.BackSideSensorDistance	=		(double)(((sensorBytes[13] & 0xff)<<8) | (sensorBytes[12] & 0xff));		

		this.controlOdo.addShift(this.UOdmometry,this.VOdometry,this.OdometryT);
		this.navigationOdo.addShift(this.UOdmometry,this.VOdometry,this.OdometryT);
	}