ddmdavid01:
PS what do you mean by non-blocking, never stops?
Non-blocking means called functions never wait and return immediately when nothing has to be changed.
So no delay(), no for or while loops with timings.
I think it worked pretty well, but lets not be so sure, because after way more than one minute pressing to go forward it gliched a little but that was just one time and you have to press it to go for a long time.
I will try read the sensors to see how it goes.
The sensor are working perfectly. Thanks for all the help you gave 
I will try to finish the last part in order to see if it is working and then we can say it is finished