diff --git a/etc/arduino/arduino.ino b/etc/arduino/arduino.ino
index 52800fee2be8907ab21ce99bf759f020dc0630f6..610f0ff4acde1632c34e94d13e4990d026db282b 100644
--- a/etc/arduino/arduino.ino
+++ b/etc/arduino/arduino.ino
@@ -15,8 +15,8 @@
 #define R_S 0.01
 #define R_L 49900
 #define V_REF 2.5
-#define V_R1 2000
-#define V_R2 1000
+#define V_R1 2000.0
+#define V_R2 1000.0
 #define VOLTAGE_PIN A1
 #define CURRENT_PIN A0
 #define ADC_TO_VOLTAGE 5.0 / 1024
@@ -32,7 +32,7 @@
 #define ECHO_REG 3 
 #define CURRENT_REG 4
 #define VOLTAGE_REG 5
-#define BATTAREY_REG 6
+#define BATTERY_REG 6
 
 // ModbusSerial object
 ModbusSerial mb (MODBUS_SERIAL, SLAVE_ID, -1);
@@ -60,7 +60,7 @@ void setup() {
   mb.addHreg (LEFT_THRUSTER_REG, 1500);
   mb.addHreg (RIGHT_THRUSTER_REG, 1500);
   mb.addHreg (ECHO_REG, 0);
-  mb.addHreg(BATTAREY_REG, 0);
+  mb.addHreg(BATTERY_REG, 0);
   mb.addHreg(CURRENT_REG, 0);
   mb.addHreg(VOLTAGE_REG, 0);
   pinMode(CURRENT_PIN, INPUT);
@@ -90,14 +90,14 @@ void ReadDepth(){
           }
     }
 }
-void BattareyRead(){
+void BatteryRead(){
   
-  float voltage = (analogRead(VOLTAGE_PIN) * ADC_TO_VOLTAGE) / (V_R2 / (V_R1 + V_R2));
-  float current = (analogRead(CURRENT_PIN) * ADC_TO_VOLTAGE) / ((R_S * R_L) / 1000);
-  float battarey = voltage * V_REF;
+  int voltage = (analogRead(VOLTAGE_PIN) * ADC_TO_VOLTAGE) / (V_R2 / (V_R1 + V_R2));
+  float current = 1000 * (analogRead(CURRENT_PIN) * ADC_TO_VOLTAGE) / ((R_S * R_L) / 1000);
+  int battery = (int)(voltage * V_REF);
     mb.setHreg(VOLTAGE_REG, voltage);
     mb.setHreg(CURRENT_REG, current);
-    mb.setHreg(BATTAREY_REG, battarey);
+    mb.setHreg(BATTERY_REG, battery);
     delay(30);
 }
 
@@ -105,7 +105,7 @@ void BattareyRead(){
 void loop() {
   ping();
   ReadDepth();
-  BattareyRead();
+  BatteryRead();
   mb.task();
   thruster_left.writeMicroseconds(constrain(mb.Hreg(LEFT_THRUSTER_REG), PWM_LOW, PWM_HIGH));
   thruster_right.writeMicroseconds(constrain(mb.Hreg(RIGHT_THRUSTER_REG), PWM_LOW, PWM_HIGH));