 void setMotorJoint(int pin0, int pin1, int pinsense, int target_ohm) {
 
 	int current_ohm = analogRead(pinsense);
-	add_status_code(current_ohm);
+	//add_status_code(current_ohm);
 
 	int a0 = LOW;  //stop implicitly
 	int a1 = LOW;

	charBuf[0] = '\0';
	status_msg.log_count = 0;
	status_msg.status_code_length = 0;
	status_msg.status_param_length = 0;
	clean_IMU();
}

void add_status_code (int32_t code) {

      break;
    case 17: //data 3:1
      ranges[(Data_4deg_index << 2) + 3] = ((inByte & 0x3F) << 8) + ranges[(Data_4deg_index << 2) + 3];
	if (Data_4deg_index == 89)
		lidar_complete = true;
      break;
    case 18: //data 3:2 signal strength
    case 19: //data 3:3 signal strength
