#define RX_PIN D7
#define TX_PIN D6

void setup(){
  cybergear.init_twai(RX_PIN, TX_PIN, /*serial_debug=*/true);

  cybergear.init_motor(MODE_POSITION);
  cybergear.set_limit_speed(10.0f);    /* set the maximum speed of the motor */
  cybergear.set_limit_current(5.0);    /* current limit allows faster operation */
  cybergear.enable_motor();            /* turn on the motor */
  cybergear.set_position_ref(0.0);     /* set initial rotor position */
  ...
}

void loop(){
  ...
  // send a request to the cybergear to receive motor status (position, speed, torque, temperature)
  unsigned long currentMillis = millis();
  if (currentMillis - previousMillis >= TRANSMIT_RATE_MS) {
    previousMillis = currentMillis;
    cybergear.request_status();
  }
}

static void handle_rx_message(twai_message_t& message) {
  if (((message.identifier & 0xFF00) >> 8) == CYBERGEAR_CAN_ID){
    cybergear.process_message(message);
  }
}

void loop(){
  ...
  XiaomiCyberGearStatus cybergear_status = cybergear.get_status();
  Serial.printf("POS:%f V:%f T:%f temp:%d\n", cybergear_status.position, cybergear_status.speed, cybergear_status.torque, cybergear_status.temperature);
  ...
}