     
     //    reads CAN BUS
     CANDataRead();
-
     
     if (sync_flag){
       sync_flag=0;

  }
}

//******************************
// POSITION DATA READ
//******************************
float encoderDataRead(unsigned char buf[])
{
    unsigned char encoder_data[8];

    encoder_data = buf[4];
    encoder_data <<= 8;
    encoder_data = encoder_data | buf[5];

    Serial.print("Encoder: ");
    Serial.println(encoder_data);
}

//****************
// CAN DATA READ

        break;

      // ID 321 message has information sent by the amplification board
      // Messages coming from the amp_board has most significative bits coming first
      case 0x321:
        // encoderDataRead();
        encoder_data = buf[4];
        encoder_data <<= 8; // bitshift equals times 2^8
        encoder_data = encoder_data | buf[5]; // sum operation

        // // load cell information is read from buf[1], buf[2] and buf[3] and converted to decimal
        loadcell_data = buf[1];
