From 04e98e4d48bae7a079ce5bc2563e3ddf68b9cc84 Mon Sep 17 00:00:00 2001
From: r1 user <r1-user@r1-base.com>
Date: Wed, 15 Oct 2025 09:40:38 +0200
Subject: [PATCH 1/2] Fixed problem in calibration: battery now is enabled and
 publishes percentage, left arm calibrator fixed

---
 R1SN003/hardware/battery/r1battery.xml | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/R1SN003/hardware/battery/r1battery.xml b/R1SN003/hardware/battery/r1battery.xml
index c12cfac516..d34325cf87 100644
--- a/R1SN003/hardware/battery/r1battery.xml
+++ b/R1SN003/hardware/battery/r1battery.xml
@@ -21,15 +21,15 @@
                 </group>
                 <group name="FIRMWARE">
                     <param name="major">            1                   </param>
-                    <param name="minor">            2                   </param>
-                    <param name="build">            1                   </param>
+                    <param name="minor">            3                   </param>
+                    <param name="build">            0                   </param>
                 </group>
             </group>
 
             <group name="SENSORS">
                 <param name="id">                   battery1        </param>
                 <param name="board">                bms             </param>
-                <param name="location">             CAN1:1          </param>
+                <param name="location">             CAN2:2          </param>
             </group>
 
         </group>
@@ -44,4 +44,4 @@
     </group>         
 
 </device>    
-          
\ No newline at end of file
+          

From 98d06e518939b6a24ebafa153e8425f26381f94d Mon Sep 17 00:00:00 2001
From: r1 user <r1-user@r1-base.com>
Date: Wed, 15 Oct 2025 09:52:54 +0200
Subject: [PATCH 2/2] added other changes

---
 R1SN003/calibrators/left_arm-calib.xml | 2 +-
 R1SN003/yarprobotinterface.ini         | 3 +--
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/R1SN003/calibrators/left_arm-calib.xml b/R1SN003/calibrators/left_arm-calib.xml
index d12747945b..69ab1f74b9 100644
--- a/R1SN003/calibrators/left_arm-calib.xml
+++ b/R1SN003/calibrators/left_arm-calib.xml
@@ -22,7 +22,7 @@
 			<param name="calibration3">           0                  0               0           0         0            0             0             0            0           0            0           0              1       </param>
 			<param name="calibration4">           0                  0               0           0         0            0             0             0            32768       0            0           32768          0       </param>
 			<param name="calibration5">           0                  0               0           0         0            0             0             0            57070       0            9700        54048          59500   </param>
-			<param name="calibrationZero">        35                -15             -52          -5        0            0             0             0            0           0            0           0              0       </param>
+			<param name="calibrationZero">        35                 0             -52          -5        0            0             0             0            0           0            0           0              0       </param>
 			<param name="calibrationDelta">       0                  0               0           0         0            0             0             0            0           0            0           0              0       </param>
 			<param name="startupPosition">        34                 50              -10         90        0.0          0.0           0.0           0.0          5.0         5.0          5.0         5.0            5.0     </param>
 			<param name="startupVelocity">        10.0               10.0            10.0        10.0      10.0         10.0          10.0          100.0        100.0       100.0        100         100.0          100.0   </param>
diff --git a/R1SN003/yarprobotinterface.ini b/R1SN003/yarprobotinterface.ini
index 7a426778e3..0701f91833 100644
--- a/R1SN003/yarprobotinterface.ini
+++ b/R1SN003/yarprobotinterface.ini
@@ -1,3 +1,2 @@
 config ./R1.xml
-enable_tags (enable_ros2)
-disable_tags (disable_battery)
+enable_tags (enable_battery enable_ros2)