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

    // Serial.println(loadcell_data/1000, DEC);

    // delay(400);
  }

}

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

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

void setup() 
