Control rmd x8 using arduino with can-bus shield

// CAN Send Example
//

#include <mcp_can.h>
#include <SPI.h>

long unsigned int rxId;
unsigned char len = 0;
unsigned char rxBuf[8];
char msgString[128];                        // Array to store serial string
#define CAN0_INT 2                              // Set INT to pin 2

MCP_CAN CAN0(10);     // Set CS to pin 10

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

  // Initialize MCP2515 running at 16MHz with a baudrate of 500kb/s and the masks and filters disabled.
  if (CAN0.begin(MCP_ANY, CAN_1000KBPS, MCP_16MHZ) == CAN_OK) Serial.println("MCP2515 Initialized Successfully!");
  else Serial.println("Error Initializing MCP2515...");

  CAN0.setMode(MCP_NORMAL);   // Change to normal mode to allow messages to be transmitted
}

void loop()
{
  byte data[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
  byte odrive_id = 0x05 << 5 + 0x00D;
  //  byte odrive_id = 0x05;
  data[0] = (uint32_t)100 & 0xFF;
  data[1] = (uint32_t)100 >> 8 & 0xFF;
  data[2] = (uint32_t)100 >> 16 & 0xFF;
  data[3] = (uint32_t)100 >> 24 & 0xFF;
  data[4] = (int16_t)10 & 0xFF;
  data[5] = (int16_t)10 >> 8 & 0xFF;

  // send data:  ID = 0x100, Standard CAN Frame, Data length = 8 bytes, 'data' = array of data bytes to send
  byte sndStat = CAN0.sendMsgBuf(odrive_id, 0, 6, data);
  if (sndStat == CAN_OK) {
    Serial.println("Message Sent Successfully!");
  } else {
    Serial.println("Error Sending Message...");
  }
  Serial.println(data[0]);
  Serial.println(data[1]);
  Serial.println(data[2]);
  Serial.println(data[3]);
  Serial.println(data[4]);
  Serial.println(data[5]);
  //    if (!digitalRead(CAN0_INT))                        // If CAN0_INT pin is low, read receive buffer
  //    {
  //      CAN0.readMsgBuf(&rxId, &len, rxBuf);      // Read data: len = data length, buf = data byte(s)
  //
  //      if ((rxId & 0x80000000) == 0x80000000)    // Determine if ID is standard (11 bits) or extended (29 bits)
  //        sprintf(msgString, "Extended ID: 0x%.8lX  DLC: %1d  Data:", (rxId & 0x1FFFFFFF), len);
  //      else
  //        sprintf(msgString, "Standard ID: 0x%.3lX       DLC: %1d  Data:", rxId, len);
  //
  //      Serial.print(msgString);
  //
  //      if ((rxId & 0x40000000) == 0x40000000) {  // Determine if message is a remote request frame.
  //        sprintf(msgString, " REMOTE REQUEST FRAME");
  //        Serial.print(msgString);
  //      } else {
  //        for (byte i = 0; i < len; i++) {
  //          sprintf(msgString, " 0x%.2X", rxBuf[i]);
  //          Serial.print(msgString);
  //        }
  //      }
  //
  //      Serial.println();
  //    }
  delay(1);   // send data per 100ms

}

/*********************************************************************************************************
  END FILE
*********************************************************************************************************/