diff --git a/ESP8266/ESP8266.ino b/ESP8266/ESP8266.ino
index 46b6ecd..735db1b 100644
--- a/ESP8266/ESP8266.ino
+++ b/ESP8266/ESP8266.ino
@@ -7,7 +7,7 @@
 // ================================================================
 //  OTA CONFIG
 // ================================================================
-#define FW_VERSION   2
+#define FW_VERSION   3
 #define GITEA_HOST   "https://git.nacho.myds.me"
 #define GITEA_OWNER  "Natxo"
 #define GITEA_REPO   "Arduino-Car"
@@ -64,7 +64,7 @@ static void checkOTA() {
               + "/raw/branch/" + GITEA_BRANCH + "/firmware/esp8266/";
 
   http.begin(client, base + "version.txt");
-  http.setTimeout(5000);
+  http.setTimeout(10000);
   int code = http.GET();
   String body;
   if (code == HTTP_CODE_OK) body = http.getString();
@@ -98,27 +98,22 @@ static void checkOTA() {
 }
 
 void setup() {
-  // OTA primero (usa WiFi)
-  checkOTA();
-
-  // Esperar hasta que hayan pasado ~15s desde el arranque
-  // para dar tiempo al ESP32-CAM a conectarse y levantar el servidor
-  unsigned long elapsed = millis();
-  if (elapsed < 15000) {
-    delay(15000 - elapsed);
-  }
-
-  Serial.begin(9600);
-
+  // 1. Pines de motor y parada inmediata — evita que las ruedas giren al arrancar
   pinMode(ENA, OUTPUT);
   pinMode(ENB, OUTPUT);
   pinMode(IN1, OUTPUT);
   pinMode(IN2, OUTPUT);
   pinMode(IN3, OUTPUT);
   pinMode(IN4, OUTPUT);
-
   stopMotors();
 
+  // 2. Serial antes del OTA — así el ESP32-CAM puede enviar el pitido a tiempo
+  Serial.begin(9600);
+
+  // 3. OTA (WiFi on → check → WiFi off). El ESP32-CAM tarda >20s en enviar
+  //    comandos de motor, así que no hay riesgo de movimiento involuntario.
+  checkOTA();
+
   analogWriteRange(255);
   analogWriteFreq(1000);
 
diff --git a/Esp32Cam/Esp32Cam.ino b/Esp32Cam/Esp32Cam.ino
index 6cd6a06..409041a 100644
--- a/Esp32Cam/Esp32Cam.ino
+++ b/Esp32Cam/Esp32Cam.ino
@@ -33,7 +33,7 @@ static void checkOTA() {
               + "/raw/branch/" + GITEA_BRANCH + "/firmware/esp32cam/";
 
   http.begin(client, base + "version.txt");
-  http.setTimeout(5000);
+  http.setTimeout(10000);
   int code = http.GET();
   String body;
   if (code == HTTP_CODE_OK) body = http.getString();
diff --git a/firmware/esp32cam/firmware.bin b/firmware/esp32cam/firmware.bin
index ea1007a..6eed431 100644
Binary files a/firmware/esp32cam/firmware.bin and b/firmware/esp32cam/firmware.bin differ
diff --git a/firmware/esp8266/firmware.bin b/firmware/esp8266/firmware.bin
index 72910af..0dc0efa 100644
Binary files a/firmware/esp8266/firmware.bin and b/firmware/esp8266/firmware.bin differ
diff --git a/firmware/esp8266/version.txt b/firmware/esp8266/version.txt
index d8263ee..e440e5c 100644
--- a/firmware/esp8266/version.txt
+++ b/firmware/esp8266/version.txt
@@ -1 +1 @@
-2
\ No newline at end of file
+3
\ No newline at end of file