diff --git a/esp32s3/balance/main/main.c b/esp32s3/balance/main/main.c
index eb0c23a..fcd63a2 100644
--- a/esp32s3/balance/main/main.c
+++ b/esp32s3/balance/main/main.c
@@ -164,9 +164,13 @@ void app_main(void)
     /* Create tasks */
     xTaskCreate(orin_serial_rx_task, "orin_rx",  4096, s_orin_tx_q, 10, NULL);
     xTaskCreate(orin_serial_tx_task, "orin_tx",  2048, s_orin_tx_q,  9, NULL);
-    xTaskCreate(vesc_can_rx_task,    "vesc_rx",  4096, s_orin_tx_q, 10, NULL);
+    if (!g_twai_bus_off) {
+        xTaskCreate(vesc_can_rx_task,    "vesc_rx",  4096, s_orin_tx_q, 10, NULL);
+        xTaskCreate(drive_task,          "drive",    2048, NULL,          8, NULL);
+    } else {
+        ESP_LOGW(TAG, "CAN disabled — vesc_rx and drive tasks not started");
+    }
     xTaskCreate(telem_task,          "telem",    2048, NULL,          5, NULL);
-    xTaskCreate(drive_task,          "drive",    2048, NULL,          8, NULL);
     xTaskCreate(hud_task,            "hud",      4096, NULL,          3, NULL);
 
     ESP_LOGI(TAG, "all tasks started");