       positionSetpoint();
       break;
   }
+  delay(100);
 }
 
 /*********************************************************************************************************
   END FILE
 *********************************************************************************************************/
 
-

    // clear the string:
    CAN.sendMsgBuf(0x601, 0, 8, setpoint_position);
    delay(10);

    delay(1000);
}

//***************

    encoder_data = buf[4];
    encoder_data <<= 8;
    encoder_data = encoder_data | buf[5];
    
    setpoint_position[4] = buf[5]; // swaps data because for CAN, the Least Significant Bit comes first
    setpoint_position[5] = buf[4]; // swaps data because for CAN, the Least Significant Bit comes first

    // // load cell information is read from buf[1], buf[2] and buf[3] and converted to decimal
    // loadcell_data = buf[1];
