def create_steer_command(packer, steer, steer_req, raw_cnt):
  """Creates a CAN message for the Toyota Steer Command."""

  values = {
    "STEER_REQUEST": steer_req,
    "STEER_TORQUE_CMD": steer,
    "COUNTER": raw_cnt,
    "SET_ME_1": 1,
  }
  return packer.make_can_msg("STEERING_LKA", 0, values)