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Line 200... Line 200...
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    while (1) {
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    while (1) {
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        // check if any messages have been received
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        // check if any messages have been received
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        if(rxMsgFull){
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        if(rxMsgFull){
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            if( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_ACT ){
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            if( ((rxMsg.Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS) == CAN_ACT ){
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                // Actuator package
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                // Actuator package
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                acttype = (uint8_t)((rxMsg.Id & CAN_MASK_ACT_FUNCC) >> CAN_SHIFT_ACT_FUNCC);
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                acttype = (uint8_t)((rxMsg.Id & CAN_MASK_ACT_TYPE) >> CAN_SHIFT_ACT_TYPE);
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                servoid = (uint16_t)((rxMsg.Id & CAN_MASK_ACT_NID) >> CAN_SHIFT_ACT_NID);
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                servoid = (uint16_t)((rxMsg.Id & CAN_MASK_ACT_ID) >> CAN_SHIFT_ACT_ID);
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        // Check if it is command to control this servo
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        // Check if it is command to control this servo
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                if(acttype == ACT_FUNCC_SERVO && (servoid == SERVOID_1 || servoid == SERVOID_2 || servoid == SERVOID_3)){
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                if(acttype == ACT_TYPE_SERVO && (servoid == SERVOID_1 || servoid == SERVOID_2 || servoid == SERVOID_3)){
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                    // This node that control a servo is adressed
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                    // This node that control a servo is adressed
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                    if(servoid == SERVOID_1){
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                    if(servoid == SERVOID_1){
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                        temp_id = 1; // First servo
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                        temp_id = 1; // First servo
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                    }else if(servoid == SERVOID_2){
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                    }else if(servoid == SERVOID_2){
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                        temp_id = 2; // and so on
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                        temp_id = 2; // and so on