 //    Serial.print("Encoder: ");
 //    Serial.println(encoder_data, DEC);
 
-    Serial.print("Loadcell: ");
-    Serial.println(loadcell_data_double);
+    // Serial.print("Loadcell: ");
+    // Serial.println(loadcell_data_double);
 
     return(encoder_data);
+  }
+
+float currentDataRead()
+{
+  unsigned char len = 0;
+  unsigned char buf[8];
+
+// clear the string:
+  CAN.sendMsgBuf(0x601, 0, 8, get_actual_current);
+  delay(10);
+
+  if (CAN_MSGAVAIL == CAN.checkReceive())           // check if data coming
+  {
+    CAN.readMsgBuf(&len, buf);    // read data,  len: data length, buf: data buf
+
+    unsigned int canId = CAN.getCanId();
+    
+    Serial.print("Current: ");
+    Serial.println(buf);
+
+    return(current_data);
   }
 
 }

      doStartup();
      break;
    case Operational:
      dataRead();
      positionSetpoint(encoder_data);
      break;
  }

//***************
// DATA READ
//***************
float amplificationBoardDataRead()
{
  unsigned char len = 0;
  unsigned char buf[8];
