 /*                LOOP                 /
 /**************************************/
 void loop(){
-	delay(3);
 if  (allStopVar == 0){
     calculateRPM();
     discSlipCheck();
-    lockedRotorCheck();
+   // lockedRotorCheck();
 }
-    now = millis();
+    //now = millis();
     //MQTT Connection Check
-	//if (!client.connected()) {
-	//	reconnect();
-    //}
+    //if (!client.connected()) {
+    //reconnect();
+   // }
     //client.loop();
 }
 

void lockedRotorCheck(){
    if (rpm <= LOCKEDDISCRPM){
        digitalWrite(STARTRELAYPIN, LOW); // immediately shut down if RPM lowByte
        client.publish(TOPIC_T, "CritErr: Disc rotation is locked, attempting restart"); 
		Serial.println("Disc motion has been stopped. Attempting Restart");
		delay(10000);
		motionControlStart();
		}                            
		
}

void allStop(){
    digitalWrite(STARTRELAYPIN, LOW);
    Serial.println("System in All-Stop");
    client.publish(TOPIC_T, "CritErr: System halted. All stop active. Restart Required");
    allStopVar = 1;
    delay(10000);
    }    
void exhibitStatusMsg(){
    char gs_msg [50];

uint8_t discSlipPrecond     = 0 ;
uint8_t restartCount        = 0 ;
char msg[50];                   

/**************************************/
/*               SETUP                 /
