Code lacks comments and is difficult to follow

[dpeters1]

I'd like to fork this to make the drift engaged by a button rather than the handbrake sensor. Can you please comment your code or use more descriptive variable names to make reverse engineering a little easier? :)

[daftracing]

You need to make sure that the trigger you want to use is operating on the HS CAN.

[dpeters1]

The trigger will be a microswitch on a custom hydro-style handbrake lever, the signal going directly into the microcontroller. My question is more related to which CAN message disconnects the RDU and locks the rear wheels? With variable names like 'lapamsg', 'dmsg', and 'lapai' it's difficult to understand what is going on in the code.

If you could add a few comments and more descriptive variable names that would really be appreciated!