       return;
     }
     
-    // inital test to see if message is recieved (delete afterwards)
-    // Serial.println(c);
-
-
       // need to check if signuture is our teams first!
       // avoids unessacary computation on the arduino if it is not a message for out team.
       int sig = getSig(c);

}





void loop(){

  // if message is available on our frequency accept it.
  if(Serial.available() > 0){

int  lastSeqNo;
bool done;

// Encoder Board Variables
#define ROTARY_SLAVE_ADDRESS 5
#define ROTARY_COUNT 6
#define PRINT_DELAY 200

// Initial motor position is 0.
int positions[ROTARY_COUNT] = {0};


void setup(){
  
  SDPsetup();
