   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;// = (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!");
 }
 

  CAN.sendMsgBuf(0x80, 0, 1, pdo_sync);
}

//******
// INTERRUPTION
//******
ISR(TIMER1_COMPA_vect) { //timer1 interrupt 1Hz toggles pin 13 (LED)

  int tests = 0;
  tests = tests + 1;
  Serial.print("Tests: ");
  Serial.println(tests);
}

//*******************
// POSITION SETPOINT

    
    Serial.print("Current: ");
    
      for(int i = 0; i<len; i++)    // print the data
        {
            Serial.print(buf[i], HEX);
            Serial.print("\t");
        }
    Serial.println();

    current_data = buf[2];
    current_data <<= 8;
