diff --git a/esp32s3/balance/main/config.h b/esp32s3/balance/main/config.h
index ecd1c67..1d8d096 100644
--- a/esp32s3/balance/main/config.h
+++ b/esp32s3/balance/main/config.h
@@ -25,8 +25,8 @@
 #define VESC_CAN_RX_QUEUE       32
 
 /* VESC node IDs */
-#define VESC_ID_A               61u     /* FRONT VESC — drive + telemetry (0x81) */
-#define VESC_ID_B               79u     /* REAR  VESC — telemetry only    (0x82) */
+#define VESC_ID_A               56u     /* FRONT VESC — drive + telemetry (0x81) */
+#define VESC_ID_B               68u     /* RIGHT VESC — drive + telemetry (0x82) */
 
 /* ── GC9A01 240×240 round display (Waveshare ESP32-S3-Touch-LCD-1.28, SPI2) ── */
 #define DISP_DC_GPIO     8
@@ -44,3 +44,4 @@
 
 /* ── Drive → VESC RPM scaling ── */
 #define RPM_PER_SPEED_UNIT      5       /* speed_units=1000 → 5000 ERPM */
+#define RPM_PER_STEER_UNIT      3       /* steer differential: left=spd+str, right=spd-str */