Thanks!
For the moment I concentrate on the robot itself, have to improve the DATA-stream between pc-Lazarus and Arduino-mikroPascal. Gonna aproach it from another angle of view. Idea is:
Sending in 1 string a Command, a Selector(s) and Value(s);
The Arduino has to respond and/or execute the Comand etc...
And also to implement something like Mode, e.g. when the robot is running by pc controll only, I don't need to read/process the ADC/QuadSticks. Onward: in 'mode' of using Quadstick, the can be done in multiple ways, e.g. controlling a joint single, or move the robot-endeffector on x, y, z coordinates etc..