   }
 }
 
-//******************************
-// POSITION DATA READ
-//******************************
-float encoderDataRead(unsigned char buf[])
-{
-    unsigned char encoder_data[8];
-
-    encoder_data = buf[4];
-    encoder_data <<= 8;
-    encoder_data = encoder_data | buf[5];
-
-    Serial.print("Encoder: ");
-    Serial.println(encoder_data);
-}
+// //******************************
+// // POSITION DATA READ
+// //******************************
+// float encoderDataRead(unsigned char buf[])
+// {
+//     unsigned char encoder_data[8];
+
+//     encoder_data = buf[4];
+//     encoder_data <<= 8;
+//     encoder_data = encoder_data | buf[5];
+
+//     Serial.print("Encoder: ");
+//     Serial.println(encoder_data);
+// }
 
 //****************
 // CAN DATA READ

        break;

      // ID 321 message has information sent by the amplification board
      case 0x321:
        encoderDataRead(buf);

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

    
    //    reads CAN BUS
    CANDataRead();
    
    if (sync_flag){
      sync_flag=0;
