 
 // send status message
 
-void sendOscStatus() {
+void sendOscStatus(long stepper, long encoder) {
   OscMessage msg("/status");
  
   msg.add(MOTOR_ID);
   msg.add("OK");
   msg.add((float)encoder0Pos); 
   msg.add(currentSpeed);
+  msg.add(stepper);
+  msg.add(encoder);
   
   etherOSC.send(msg, destination);
 }

    goalSpeed = pidOutput;
  }
    
  
  unsigned long dt = micros() - lastmicros;
  lastmicros = micros();
  
  updateSpeed(dt);
  
  
  // check for incoming messages 
  etherOSC.listen();
  
  
  if (printcounter==0) {
    sendOscStatus();
  }
  if (printcounter++ > 100) printcounter = 0;
  



unsigned long lastmicros = micros();
long laststepperpos = 0, lastencoder0Pos = 0;
int printcounter = 0;

void loop(){ 
  // PID loop
  pidInput = encoder0Pos;
  if (abs(pidInput-pidSetpoint) < CLOSE_ENOUGH) {
    goalSpeed = 0;
