diff --git a/ESP8266/ESP8266.ino b/ESP8266/ESP8266.ino
index f786b7b..ec532b4 100644
--- a/ESP8266/ESP8266.ino
+++ b/ESP8266/ESP8266.ino
@@ -7,7 +7,7 @@
 // ================================================================
 //  OTA CONFIG
 // ================================================================
-#define FW_VERSION   17
+#define FW_VERSION   18
 #define GITEA_HOST   "https://git.nacho.myds.me"
 #define GITEA_OWNER  "Natxo"
 #define GITEA_REPO   "Arduino-Car"
@@ -110,6 +110,8 @@ static void checkOTA() {
   WiFi.mode(WIFI_OFF);   // apaga radio para ahorrar energía
 }
 
+bool espReady = false;
+
 void waitForReady() {
   delay(300);
   while (Serial.available()) Serial.read();
@@ -124,6 +126,7 @@ void waitForReady() {
           Serial.print("OK\n");
           delay(50);
           while (Serial.available()) Serial.read();
+          espReady = true;
           // 2 pitidos: conexión entre placas lista
           for (int i = 0; i < 2; i++) {
             digitalWrite(buzzerPin, HIGH); delay(180);
@@ -138,6 +141,7 @@ void waitForReady() {
     }
     delay(10);
   }
+  espReady = true;  // timeout: arranca igualmente
 }
 
 void setup() {
@@ -166,15 +170,42 @@ void setup() {
   waitForReady();
 }
 
+// Watchdog ligero en ESP8266: si no llega comando de movimiento en 1.5s → para
+// Evita que el coche siga moviéndose si el ESP32 se cuelga o reinicia
+unsigned long lastMoveMs = 0;
+bool motorRunning = false;
+
 void loop() {
+  // Watchdog: sin comandos durante 1.5s → para motores
+  if (motorRunning && (millis() - lastMoveMs > 1500)) {
+    stopMotors();
+    motorRunning = false;
+  }
+
   if (Serial.available()) {
     char c = Serial.read();
 
-    if      (c == 'F') forward();
-    else if (c == 'B') backward();
-    else if (c == 'L') left();
-    else if (c == 'R') right();
-    else if (c == 'S') stopMotors();
+    // Reinicio del ESP32-CAM: manda "GO\n" de nuevo
+    if (c == 'G') {
+      espReady = false;
+      stopMotors();
+      motorRunning = false;
+      Serial.readStringUntil('\n');
+      Serial.print("OK\n");
+      delay(50);
+      while (Serial.available()) Serial.read();
+      espReady = true;
+      return;
+    }
+
+    // Ignorar todo hasta que el handshake esté completo
+    if (!espReady) return;
+
+    if      (c == 'F') { forward();    lastMoveMs = millis(); motorRunning = true; }
+    else if (c == 'B') { backward();   lastMoveMs = millis(); motorRunning = true; }
+    else if (c == 'L') { left();       lastMoveMs = millis(); motorRunning = true; }
+    else if (c == 'R') { right();      lastMoveMs = millis(); motorRunning = true; }
+    else if (c == 'S') { stopMotors(); motorRunning = false; }
 
     else if (c == 'V') {
       int val = Serial.parseInt();
diff --git a/Esp32Cam/Esp32Cam.ino b/Esp32Cam/Esp32Cam.ino
index bbd784e..6eed0f6 100644
--- a/Esp32Cam/Esp32Cam.ino
+++ b/Esp32Cam/Esp32Cam.ino
@@ -10,7 +10,7 @@
 // ================================================================
 //  OTA CONFIG
 // ================================================================
-#define FW_VERSION   17
+#define FW_VERSION   18
 #define GITEA_HOST   "https://git.nacho.myds.me"
 #define GITEA_OWNER  "Natxo"
 #define GITEA_REPO   "Arduino-Car"
diff --git a/firmware/esp32cam/firmware.bin b/firmware/esp32cam/firmware.bin
index 64bd5b1..adc8253 100644
Binary files a/firmware/esp32cam/firmware.bin and b/firmware/esp32cam/firmware.bin differ
diff --git a/firmware/esp32cam/version.txt b/firmware/esp32cam/version.txt
index 8e2afd3..25bf17f 100644
--- a/firmware/esp32cam/version.txt
+++ b/firmware/esp32cam/version.txt
@@ -1 +1 @@
-17
\ No newline at end of file
+18
\ No newline at end of file
diff --git a/firmware/esp8266/firmware.bin b/firmware/esp8266/firmware.bin
index 6551e3d..20ba3af 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 8e2afd3..25bf17f 100644
--- a/firmware/esp8266/version.txt
+++ b/firmware/esp8266/version.txt
@@ -1 +1 @@
-17
\ No newline at end of file
+18
\ No newline at end of file