diff --git a/esp32s3/balance/main/config.h b/esp32s3/balance/main/config.h
index 05b602e..2b1ddd8 100644
--- a/esp32s3/balance/main/config.h
+++ b/esp32s3/balance/main/config.h
@@ -24,9 +24,9 @@
 #define VESC_CAN_RX_GPIO        1       /* SN65HVD230 RXD → ESP32 TWAI RX */
 #define VESC_CAN_RX_QUEUE       32
 
-/* VESC node IDs */
-#define VESC_ID_A               61u     /* TELEM_VESC_LEFT  (0x81) */
-#define VESC_ID_B               79u     /* TELEM_VESC_RIGHT (0x82) */
+/* VESC node IDs — matched to bd-wim1 TELEM_VESC_LEFT/RIGHT mapping */
+#define VESC_ID_A               56u     /* TELEM_VESC_LEFT  (0x81) */
+#define VESC_ID_B               68u     /* TELEM_VESC_RIGHT (0x82) */
 
 /* ── Safety / timing ── */
 #define HB_TIMEOUT_MS           500u    /* heartbeat watchdog: disarm if exceeded */