diff --git a/can.js b/can.js
index eeaad5c..2789502 100644
--- a/can.js
+++ b/can.js
@@ -13,15 +13,17 @@ var loaded_map_data = [];
 
 var throttle_output = 0;
 
+var enabled = false;
+
 var channel = can.createRawChannel(can_conf.network_id, true);
 
-for (let i = 0; i <= map_conf.steps; i++) {
-    map_rpm[i] = i * (map_conf.max_rpm / map_conf.steps);
-    map_throttle[i] = i * (map_conf.max_throttle / map_conf.steps);
-}
+// 404#0000245E00710186
+// 019#02
+// 050#9702
 
 const current_id = (0x01 << 5) | can_conf.controller.id;
 const brake_current_id = (0x02 << 5) | can_conf.controller.id;
+const erpm_id = (0x20 << 5) | can_conf.controller.id;
 
 function parseMap(filename) {
     loaded_map_data = [];
@@ -63,54 +65,88 @@ function getMapIndex(array, input) {
     return Math.abs(array[left] - input) < Math.abs(array[right] - input) ? left : right;
 }
 
-channel.addListener("onMessage", async function (message) {
+(async () => {
+    for (let i = 0; i <= map_conf.steps; i++) {
+        map_rpm[i] = i * (map_conf.max_rpm / map_conf.steps);
+        map_throttle[i] = i * (map_conf.max_throttle / map_conf.steps);
+    }
+
     if (fs.existsSync(map_conf.selected_map_path)) {
-        let enabled_map_name = fs.readFileSync(map_conf.selected_map_path);
+        const enabled_map_name = fs.readFileSync(map_conf.selected_map_path);
 
         if (enabled_map_name != "") {
             if (loaded_map_name != enabled_map_name) {
                 await parseMap(enabled_map_name);
             }
+        }
+    }
+})();
 
-            if (message.id == can_conf.apps_id) {
-                const apps_percentage = ((message.data[1] << 8) | message.data[0]) / 1000;
-                let pos = getMapIndex(map_throttle, apps_percentage);
-
-                throttle_output = loaded_map_data[pos][2];
+channel.addListener("onMessage", async function (message) {
+    switch (message.id) {
+        case can_conf.selector.id:
+            console.log("==INVOKE SELECTOR==");
+            if (Buffer.compare(message.data, can_conf.selector.command) == 0) {
+                console.log("enable");
+                enabled = true;
             } else {
-                let packet_id = message.id >> 5;
-                let node_id = message.id & 0x1F;
+                console.log("disable");
+                enabled = false;
+            }
 
-                if ((node_id == can_conf.controller.id) && (packet_id == 0x20)) {
-                    let ERPM = message.data[0] << 3 * 8 | message.data[1] << 2 * 8 | message.data[2] << 8 | message.data[3];
+            break;
+        case can_conf.apps_id:
+            console.log("==INVOKE APPS==");
+            const apps_percentage = ((message.data[1] << 8) | message.data[0]) / 1000;
 
-                    if (throttle_output > 0) {
-                        let max_current = loaded_map_data[getMapIndex(map_rpm, ERPM / can_conf.motor_poles)][0];
+            throttle_output = loaded_map_data[getMapIndex(map_throttle, apps_percentage)][2];
+            console.log(throttle_output);
+
+            break;
+        case erpm_id:
+            console.log("==INVOKE ERPM==");
+            if (enabled) {
+                console.log("enabled");
+                if (fs.existsSync(map_conf.selected_map_path)) {
+                    const enabled_map_name = fs.readFileSync(map_conf.selected_map_path);
+
+                    if (enabled_map_name != "") {
+                        console.log("map selected");
+                        if (loaded_map_name != enabled_map_name) {
+                            await parseMap(enabled_map_name);
+                        }
+
+                        const ERPM = message.data[0] << 3 * 8 | message.data[1] << 2 * 8 | message.data[2] << 8 | message.data[3];
+
+                        let max_current = loaded_map_data[getMapIndex(map_rpm, ERPM / can_conf.motor_poles)][(throttle_output > 0) ? 0 : 1];
                         let current = throttle_output * max_current * 10;
-
+                        console.log(max_current);
+                        console.log(current);
                         channel.send({
-                            id: current_id,
+                            id: (throttle_output > 0) ? current_id : brake_current_id,
                             ext: false,
                             data: Buffer.from([(current >> 8) & 0xFF, current & 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
                         });
-                    } else if (throttle_output < 0) {
-                        let max_brake_current = loaded_map_data[getMapIndex(map_rpm, ERPM / can_conf.motor_poles)][1];
-                        let brake_current = throttle_output * max_brake_current * 10;
-
+                    } else {
+                        console.log("map not selected");
                         channel.send({
                             id: brake_current_id,
                             ext: false,
-                            data: Buffer.from([(brake_current >> 8) & 0xFF, brake_current & 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
-                        });
-                    } else {
-                        channel.send({
-                            id: current_id,
-                            ext: false,
                             data: Buffer.from([0, 0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
                         });
                     }
+                } else {
+                    channel.send({
+                        id: brake_current_id,
+                        ext: false,
+                        data: Buffer.from([0, 0, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF])
+                    });
                 }
             }
+
+            break;
+        default: {
+            break;
         }
     }
 });