Arduino DBW Receiver code

#include <due_can.h>
#define DBW_STEERING_PIN  2   // PWM or analog control
#define DBW_THROTTLE_PIN  3
#define DBW_BRAKE_PIN     4


void setup() {
  Serial.begin(115200);
  Can0.begin(CAN_BPS_500K);


  // Optionally set mailboxes manually if needed
  for (int i = 0; i < 8; i++) {
    Can0.setRXFilter(i, 0x200, 0x7FF, false);  // Accept messages with ID 0x200
  }


  // Setup outputs
  pinMode(DBW_STEERING_PIN, OUTPUT);
  pinMode(DBW_THROTTLE_PIN, OUTPUT);
  pinMode(DBW_BRAKE_PIN, OUTPUT);


  analogWrite(DBW_STEERING_PIN, 90); // Neutral PWM
  analogWrite(DBW_THROTTLE_PIN, 0);
  analogWrite(DBW_BRAKE_PIN, 0);


  Serial.println("CAN Receiver Initialized.");
}


void loop() {
  CAN_FRAME incoming;


  if (Can0.available()) {
    Can0.read(incoming);


    if (incoming.id == 0x200 && incoming.length >= 2) {
      byte cmd_id = incoming.data.byte[0];
      int value = 0;


      if (cmd_id == 0x01) {  // Steering (signed)
        value = (int8_t)incoming.data.byte[1]; // cast signed
        int pwm = map(value, -30, 30, 60, 120);  // Map to servo PWM range 
        analogWrite(DBW_STEERING_PIN, pwm);
        Serial.print("[STEERING] Angle: ");
        Serial.println(value);
      }
      else if (cmd_id == 0x02) {  // Throttle
        value = incoming.data.byte[1];
        int pwm = map(value, 0, 100, 0, 255);
        analogWrite(DBW_THROTTLE_PIN, pwm);
        Serial.print("[THROTTLE] Value: ");
        Serial.println(value);
      }
      else if (cmd_id == 0x03) {  // Brake
        value = incoming.data.byte[1];
        int pwm = map(value, 0, 100, 0, 255);
        analogWrite(DBW_BRAKE_PIN, pwm);
        Serial.print("[BRAKE] Value: ");
        Serial.println(value);
      }
    }
  }
}