void loop()
{
  if(Serial.available()>0){
    for(int i=0;i<8;i++)
      data_old[i]=data[i];
    updateValues();
    if(data_old[Datapacket_steering]!=data[Datapacket_steering ])
      steering.write(max(STEERING_MIN,min(STEERING_MAX,(steeringOffset/1.417)+((127+(data[Datapacket_steering]-127)*((data[Datapacket_steering]>0)? sFactorMax:sFactorMin))/1.417))));
    if(data_old[Datapacket_drive ]!=data[Datapacket_drive  ])
      analogWrite(Pin_drive, data[Datapacket_drive]);
    if(data_old[Datapacket_relay ]!=data[Datapacket_relay  ])
      digitalWrite(Pin_relay, data[Datapacket_relay]);
    if(data_old[Datapacket_brakes ]!=data[Datapacket_brakes  ])
      digitalWrite(Pin_brakes, data[Datapacket_brakes]);
  }
  Headlights();
  Underglow();
}