       break;
     case Operational:
       dataRead();
-      positionSetpoint();
+      positionSetpoint(encoder_data);
       break;
   }
   delay(100);

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

    // 200000 qc is one
    encoder_data
    
    setpoint_position[4] = buf[5]; // swaps data because for CAN, the Least Significant Bit comes first
    setpoint_position[5] = buf[4]; // swaps data because for CAN, the Least Significant Bit comes first

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

// System Variables
// *****************

int encoder_resolution = 2000; //2000 counts per turn
int reduction = 100; // harmonic drive reduction

void setup() 
