diff --git a/hydrobot.py b/hydrobot.py
--- a/hydrobot.py
+++ b/hydrobot.py
@@ -1,32 +1,120 @@
 import sys
-from phant import Phant
+import time
+import _thread
 from canard import can, bus
 from canard.hw import socketcan
 from canard.file import jsondb
-
-p = Phant(jsonPath='keys_m3KwkGKYoxsrqoxpDePxhj8660L.json')
+from influxdb import InfluxDBClient
+import configparser
 
-parser = jsondb.JsonDbParser()
-b = parser.parse('hydrobot_can.json')
-temp_msg = b.get_message("AirTemp")
+config = configparser.ConfigParser()
+config.read("config.txt")
+DEBUG_CAN = config.getboolean("debug", "can")
+DEBUG_CAN_DETAIL = config.getboolean("debug", "can_detail")
 
-dev = socketcan.SocketCanDev("can0")
-dev.start()
-
-while True:
-    frame = dev.recv()
-    print(frame)
+def log_data(msgdb, client, message):
+    if message == msgdb.AirSense:
+        json_body = [
+            {
+                "measurement": "air_temp",
+                "fields": {
+                    "value": (float)(message.Temperature.value)
+                }
+            },
+            {
+                "measurement": "air_humidity",
+                "fields": {
+                    "value": (float)(message.Humidity.value)
+                }
+            },
+            {
+                "measurement": "air_pressure",
+                "fields": {
+                    "value": (float)(message.Pressure.value)
+                }
+            }
+        ]
+        client.write_points(json_body)
+    if message == msgdb.RelayDriveIn:
+        json_body = [
+            {
+                "measurement": "input_1",
+                "fields": {
+                    "value": (float)(message.Input1.value)
+                }
+            },
+            {
+                "measurement": "input_2",
+                "fields": {
+                    "value": (float)(message.Input2.value)
+                }
+            },
+            {
+                "measurement": "input_3",
+                "fields": {
+                    "value": (float)(message.Input3.value)
+                }
+            },
+            {
+                "measurement": "input_4",
+                "fields": {
+                    "value": (float)(message.Input4.value)
+                }
+            }
+        ]
+        client.write_points(json_body)
     
-    signals = b.parse_frame(frame)
-    if signals:
-        for s in signals:
-            print(s)
-            print(s.value)
+
+def process_can(dev, msgdb, client):
+    while True:
+        frame = dev.recv()
+        message = msgdb.decode(frame)
+        if message:
+            for s in message._signals.values():
+                if DEBUG_CAN:
+                    print("Received CAN message! ID: " + hex(message.id))
+                if DEBUG_CAN_DETAIL:
+                    print(s)
+                    print(s.value)
+                log_data(msgdb, client, message)
+                
+def send_can(dev, msgdb, relay_send_msg):
+    relay_send_msg.Nothing.value = 0
+    relay_send_msg.Output1.value = 0
+    relay_send_msg.Output2.value = 0
+    relay_send_msg.Output3.value = 0
+    relay_send_msg.Output4.value = 0
+    if DEBUG_CAN:
+        print("Send CAN message! ID: " + hex(relay_send_msg.id))
+    if DEBUG_CAN_DETAIL:
+        print(relay_send_msg)
+    dev.send(relay_send_msg.encode())
     
-    temp = temp_msg.get_signal("Temperature").value
-    humid = temp_msg.get_signal("Humidity").value
-    press = temp_msg.get_signal("Pressure").value
+
+def main():
+    host = config.get("database", "host")
+    port = config.get("database", "port")
+    username = config.get("database", "username")
+    password = config.get("database", "password")
+    database = config.get("database", "database")
+    client = InfluxDBClient(host, port, username, password, database)
+
+    parser = jsondb.JsonDbParser()
+    msgdb = parser.parse('hydrobot_can.json')
+    temp_msg = msgdb.AirSense
+    relay_msg = msgdb.RelayDriveIn
+    relay_send_msg = msgdb.RelayDriveOut
+
+    dev = socketcan.SocketCanDev("can0")
+    dev.start()
     
-    p.log(humid, press, temp)
-    print(p.remaining_bytes, p.cap)
+    _thread.start_new_thread(process_can, (dev, msgdb, client))
 
+    while True:
+        
+        send_can(dev, msgdb, relay_send_msg)
+        time.sleep(1)
+        
+
+if __name__ == "__main__":
+    main()