   CAN.sendMsgBuf(0x80, 0, 1, pdo_sync);
 }
 
-//******
-// INTERRUPTION
-//******
-ISR(TIMER1_COMPA_vect) { //timer1 interrupt 1Hz toggles pin 13 (LED)
-
-  int tests = 0;
-  tests = tests + 1;
-  Serial.print("Tests: ");
-  Serial.println(tests);
-}
+//int tests = 0;
+
+////******
+//// INTERRUPTION
+////******
+//ISR(TIMER1_COMPA_vect) { //timer1 interrupt 1Hz toggles pin 13 (LED)
+//  
+//  tests = tests + 1;
+//
+//}
 
 //*******************
 // POSITION SETPOINT

      doStartup();
      break;
    case Operational:
      // amplificationBoardDataRead();
      currentDataRead();
      // positionSetpoint(encoder_data);
      break;
  }
  delay(100);

  State = Startup;
  Serial.println("CAN BUS Shield init ok!");

//  // TIMER SETUP- the timer interrupt allows precise timed measurements of the reed switch
//  //for mor info about configuration of arduino timers see http://arduino.cc/playground/Code/Timer1
//
//  cli();//stop interrupts
//
//  //set timer1 interrupt at 1kHz
//  TCCR1A = 0;// set entire TCCR1A register to 0
//  TCCR1B = 0;// same for TCCR1B\
//  TCNT1  = 0;//initialize counter value to 0
//  // set timer count for 1khz increments
//  OCR1A = 1999;// = (16*10^6) / (1000*8) - 1
//  //had to use 16 bit timer1 for this bc 1999>255, but could switch to timers 0 or 2 with larger prescaler
//  // turn on CTC mode
//  TCCR1B |= (1 << WGM12);
//  // Set CS11 bit for 8 prescaler
//  TCCR1B |= (1 << CS11);
//  // enable timer compare interrupt
//  TIMSK1 |= (1 << OCIE1A);
//
//  sei();//allow interrupts
//  //END TIMER SETUP
  
  Serial.println("Interrupt init ok!");
}

