def METHOD_NAME(bus, active, critical, steer):
  if active and steer == 1:
    if critical:
      dat = b"\x50\xc0\x14"
    else:
      dat = b"\x50\x40\x18"
  elif active:
    if critical:
      dat = b"\x40\xc0\x14"
    else:
      dat = b"\x40\x40\x18"
  else:
    dat = b"\x00\x00\x00"
  return make_can_msg(0x104c006c, dat, bus)