From bdbd7a7c3e5b9f9daba365878d3bbc2d054d6d85 Mon Sep 17 00:00:00 2001 From: Sebastien Vayrette Date: Sun, 19 Apr 2026 22:43:47 -0400 Subject: [PATCH] fix: Restore correct VESC CAN IDs (56/68) in config.h A linter reverted VESC_ID_A/B to old values 61/79. Correct IDs per bd-wim1 protocol are 56 (left) and 68 (right). Co-Authored-By: Claude Opus 4.6 --- esp32s3/balance/main/config.h | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 */