#include <Arduino.h>
#include <mcp_can.h>
long unsigned int rxId;
unsigned char len = 0;
unsigned char rxBuf[8];
char msgString[128];

#define CAN0_INT 2
MCP_CAN CAN0(10);

int lenkrad;
int Relai1 = 4 ;
int Relai2 = 5;
int Relai3 = 6;
int Relai4 = 7;

unsigned long update1previousMillis = 0;
const long update1 = 150;
const long update2 = 50;

void setup() {
  Serial.begin(115200);
  CAN0.begin(MCP_ANY, CAN_100KBPS, MCP_8MHZ) == CAN_OK;
  CAN0.setMode(MCP_NORMAL);
  digitalWrite(Relai1, HIGH);
  digitalWrite(Relai2, HIGH);
  digitalWrite(Relai3, HIGH);
  digitalWrite(Relai4, HIGH);
  pinMode(CAN0_INT, INPUT);
  pinMode(Relai1, 4);
  pinMode(Relai2, 5);
  pinMode(Relai3, 6);
  pinMode(Relai4, 7);
}

void loop() {
  CAN0.readMsgBuf(&rxId, &len, rxBuf);
  if ( (rxId & 0x80000000) != 0x80000000 && (rxId & 0x40000000) != 0x40000000 ) {
    switch (rxId) {
      case 0x5c3:
        lenkrad = rxBuf[1];
        break;
    }
    unsigned long update1currentMillis = millis();
    if (update1currentMillis - update1previousMillis >= update1) {
      update1previousMillis = update1currentMillis;
      if (lenkrad == 06 || lenkrad == 6) {
        Serial.println("lauter");
        digitalWrite(Relai3, 0); ///// 0 = LOW 1= HIGH
        delay(50);                 /// wartet hier 10msec und schaltet wieder auf HIGH
        digitalWrite(Relai3, 1);
      }
      else if (lenkrad == 07 || lenkrad == 7) {
        Serial.println("leiser");
        digitalWrite(Relai2, 0);
        delay(50);
        digitalWrite(Relai2, 1);
      }
      else if (lenkrad == 02 || lenkrad == 2) {
        Serial.println("weiter");
        digitalWrite(Relai4, 0);
        delay(50);
        digitalWrite(Relai4, 1);
      }
      else if (lenkrad == 03 || lenkrad == 3) {
        Serial.println("zurück");
        digitalWrite(Relai1, 0);
        delay(50);
        digitalWrite(Relai1, 1);
      }
    }
  }
}