     Serial.println(" Init CAN BUS Shield again");
     delay(100);
   }
-  
-  State = Startup;
+
   Serial.println("CAN BUS Shield init ok!");
 
-//  // TIMER SETUP- the timer interrupt allows precise timed measurements of the reed switch
-//  //for mor info about configuration of arduino timers see http://arduino.cc/playground/Code/Timer1
-//
-//  cli();//stop interrupts
-//
-//  //set timer1 interrupt at 1kHz
-//  TCCR1A = 0;// set entire TCCR1A register to 0
-//  TCCR1B = 0;// same for TCCR1B\
-//  TCNT1  = 0;//initialize counter value to 0
-//  // set timer count for 1khz increments
-//  OCR1A = 1999;// = (16*10^6) / (1000*8) - 1
-//  //had to use 16 bit timer1 for this bc 1999>255, but could switch to timers 0 or 2 with larger prescaler
-//  // turn on CTC mode
-//  TCCR1B |= (1 << WGM12);
-//  // Set CS11 bit for 8 prescaler
-//  TCCR1B |= (1 << CS11);
-//  // enable timer compare interrupt
-//  TIMSK1 |= (1 << OCIE1A);
-//
-//  sei();//allow interrupts
-//  //END TIMER SETUP
+ // TIMER SETUP- the timer interrupt allows precise timed measurements of the reed switch
+ //for mor info about configuration of arduino timers see http://arduino.cc/playground/Code/Timer1
+
+ cli();//stop interrupts
+
+ //set timer1 interrupt at 1kHz
+ TCCR1A = 0;// set entire TCCR1A register to 0
+ TCCR1B = 0;// same for TCCR1B\
+ TCNT1  = 0;//initialize counter value to 0
+ // set timer count for 1khz increments
+
+ // OCR1A 1999 to 1kHZ, 19999 to 0.1kHz
+ OCR1A = 19999;// = (16*10^6) / (1000*8) - 1
+ //had to use 16 bit timer1 for this bc 1999>255, but could switch to timers 0 or 2 with larger prescaler
+ // turn on CTC mode
+ TCCR1B |= (1 << WGM12);
+ // Set CS11 bit for 8 prescaler
+ TCCR1B |= (1 << CS11);
+ // enable timer compare interrupt
+ TIMSK1 |= (1 << OCIE1A);
+
+ sei();//allow interrupts
+ //END TIMER SETUP
   
   Serial.println("Interrupt init ok!");
 }

    loadcell_data = loadcell_data | buf[2];
    loadcell_data <<= 8;
    loadcell_data = loadcell_data | buf[3];
//
//    if (buf[1] >= 128) {
//           loadcell_data = loadcell_data - 16777216;
//    }

  loadcell_data_double = loadcell_data;
//  loadcell_data_double = loadcell_data_double-4294000000;

//    Serial.print("Encoder: ");
//    Serial.println(encoder_data, DEC);

     Serial.print("Loadcell: ");
     Serial.println(loadcell_data_double);

  delay(10);
}

//******************************
// AMPLIFICATION BOARD DATA READ
//******************************
float amplificationBoardDataRead()
{
  unsigned char len = 0;
