       // ID 321 message has information sent by the amplification board
       // Messages coming from the amp_board has most significative bits coming first
       case 0x321:
+        // buf[1] = buf[1] - 0x98;
+        // buf[2] = buf[2] - 0x96;
+        // buf[3] = buf[3] - 0x80;
+        // Serial.println("-----------------------------");
+        // Serial.print("AMP ");
+        // Serial.println(canId, HEX);
+
+        // for(int i = 0; i<len; i++)    // print the data
+        // {
+        //     Serial.print(buf[i], HEX);
+        //     Serial.print("\t");
+        // }
+        // Serial.println();
+
         // encoderDataRead();
         encoder_data = buf[4];
         encoder_data <<= 8; // bitshift equals times 2^8

  CAN.sendMsgBuf(0x601, 0, 8, set_max_profile_velocity);
  Serial.println("Max Profile Velocity set as 2000rpm");  
  delay(10);
  State = Pre_Operational;
}


        loadcell_data = loadcell_data | buf[2];
        loadcell_data <<= 8;
        loadcell_data = loadcell_data | buf[3];

        // loadcell_data = loadcell_data - 10000000; 

        positionSetpoint(encoder_data);

