diff --git a/ESP8266/ESP8266.ino b/ESP8266/ESP8266.ino
index 999e3fd..f786b7b 100644
--- a/ESP8266/ESP8266.ino
+++ b/ESP8266/ESP8266.ino
@@ -7,7 +7,7 @@
 // ================================================================
 //  OTA CONFIG
 // ================================================================
-#define FW_VERSION   16
+#define FW_VERSION   17
 #define GITEA_HOST   "https://git.nacho.myds.me"
 #define GITEA_OWNER  "Natxo"
 #define GITEA_REPO   "Arduino-Car"
@@ -110,6 +110,35 @@ static void checkOTA() {
   WiFi.mode(WIFI_OFF);   // apaga radio para ahorrar energía
 }
 
+void waitForReady() {
+  delay(300);
+  while (Serial.available()) Serial.read();
+  unsigned long timeout = millis() + 90000UL;
+  String buf = "";
+  while (millis() < timeout) {
+    while (Serial.available()) {
+      char c = Serial.read();
+      if (c == '\n') {
+        buf.trim();
+        if (buf == "GO") {
+          Serial.print("OK\n");
+          delay(50);
+          while (Serial.available()) Serial.read();
+          // 2 pitidos: conexión entre placas lista
+          for (int i = 0; i < 2; i++) {
+            digitalWrite(buzzerPin, HIGH); delay(180);
+            digitalWrite(buzzerPin, LOW);  delay(180);
+          }
+          return;
+        }
+        buf = "";
+      } else if (c != '\r' && buf.length() < 8) {
+        buf += c;
+      }
+    }
+    delay(10);
+  }
+}
 
 void setup() {
   // 1. Pines y parada inmediata
@@ -133,9 +162,8 @@ void setup() {
   servoX.write(posX);
   servoY.write(posY);
 
-  // 5. Esperar a que el ESP32-CAM termine de arrancar
-  unsigned long elapsed = millis();
-  if (elapsed < 15000) delay(15000 - elapsed);
+  // 5. Esperar "GO\n" del ESP32-CAM antes de procesar comandos
+  waitForReady();
 }
 
 void loop() {
diff --git a/Esp32Cam/Esp32Cam.ino b/Esp32Cam/Esp32Cam.ino
index 973ae27..bbd784e 100644
--- a/Esp32Cam/Esp32Cam.ino
+++ b/Esp32Cam/Esp32Cam.ino
@@ -10,7 +10,7 @@
 // ================================================================
 //  OTA CONFIG
 // ================================================================
-#define FW_VERSION   16
+#define FW_VERSION   17
 #define GITEA_HOST   "https://git.nacho.myds.me"
 #define GITEA_OWNER  "Natxo"
 #define GITEA_REPO   "Arduino-Car"
@@ -24,6 +24,29 @@ const char *password = "Suprak1llm1ndS23S";
 void startCameraServer();
 void setupLedFlash();
 
+static void handshakeTask(void *) {
+  unsigned long deadline = millis() + 30000UL;
+  String buf = "";
+  while (millis() < deadline) {
+    Serial.print("GO\n");
+    unsigned long t = millis();
+    while (millis() - t < 300) {
+      while (Serial.available()) {
+        char c = Serial.read();
+        if (c == '\n') {
+          buf.trim();
+          if (buf == "OK") { vTaskDelete(NULL); return; }
+          buf = "";
+        } else if (c != '\r' && buf.length() < 8) {
+          buf += c;
+        }
+      }
+      vTaskDelay(pdMS_TO_TICKS(5));
+    }
+  }
+  vTaskDelete(NULL);
+}
+
 
 // ── OTA: comprueba si hay firmware nuevo y actualiza si hace falta ──
 static void checkOTA() {
@@ -147,6 +170,8 @@ void setup() {
 
   // ── Servidor cámara ───────────────────────────────────────────────
   startCameraServer();
+
+  xTaskCreate(handshakeTask, "handshake", 4096, NULL, 1, NULL);
 }
 
 void loop() {
diff --git a/firmware/esp32cam/firmware.bin b/firmware/esp32cam/firmware.bin
index 8ef645d..64bd5b1 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 19c7bdb..8e2afd3 100644
--- a/firmware/esp32cam/version.txt
+++ b/firmware/esp32cam/version.txt
@@ -1 +1 @@
-16
\ No newline at end of file
+17
\ No newline at end of file
diff --git a/firmware/esp8266/firmware.bin b/firmware/esp8266/firmware.bin
index 382f007..6551e3d 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 19c7bdb..8e2afd3 100644
--- a/firmware/esp8266/version.txt
+++ b/firmware/esp8266/version.txt
@@ -1 +1 @@
-16
\ No newline at end of file
+17
\ No newline at end of file