diff --git a/ESP8266/ESP8266.ino b/ESP8266/ESP8266.ino
index 74383de..999e3fd 100644
--- a/ESP8266/ESP8266.ino
+++ b/ESP8266/ESP8266.ino
@@ -7,7 +7,7 @@
 // ================================================================
 //  OTA CONFIG
 // ================================================================
-#define FW_VERSION   13
+#define FW_VERSION   16
 #define GITEA_HOST   "https://git.nacho.myds.me"
 #define GITEA_OWNER  "Natxo"
 #define GITEA_REPO   "Arduino-Car"
@@ -110,45 +110,6 @@ static void checkOTA() {
   WiFi.mode(WIFI_OFF);   // apaga radio para ahorrar energía
 }
 
-bool espReady = false;
-
-// ── Handshake con ESP32-CAM ──────────────────────────────────────
-// Descarta basura del bootloader ROM (115200 baud → bytes aleatorios),
-// luego espera exactamente "GO\n" y responde "OK\n".
-void waitForReady() {
-  // Descarta todo lo que haya en el buffer (logs de arranque del ESP32)
-  delay(300);
-  while (Serial.available()) Serial.read();
-
-  // Espera "GO\n" del ESP32-CAM (máx 90s por si está haciendo OTA)
-  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();  // flush post-handshake
-          espReady = true;
-          // 2 pitidos: conexión entre placas establecida
-          for (int i = 0; i < 2; i++) {
-            digitalWrite(buzzerPin, HIGH); delay(180);
-            digitalWrite(buzzerPin, LOW);  delay(180);
-          }
-          return;
-        }
-        buf = "";
-      } else if (c != '\r') {
-        if (buf.length() < 8) buf += c;
-      }
-    }
-    delay(10);
-  }
-  espReady = true;  // timeout: arranca igual
-}
 
 void setup() {
   // 1. Pines y parada inmediata
@@ -172,27 +133,15 @@ void setup() {
   servoX.write(posX);
   servoY.write(posY);
 
-  // 5. Esperar señal '!' del ESP32-CAM antes de procesar comandos
-  waitForReady();
+  // 5. Esperar a que el ESP32-CAM termine de arrancar
+  unsigned long elapsed = millis();
+  if (elapsed < 15000) delay(15000 - elapsed);
 }
 
 void loop() {
   if (Serial.available()) {
     char c = Serial.read();
 
-    // Detecta re-arranque del ESP32-CAM: envía "GO\n" de nuevo
-    if (c == 'G') {
-      Serial.readStringUntil('\n');   // consume "O\n"
-      Serial.print("OK\n");
-      delay(50);
-      while (Serial.available()) Serial.read();
-      espReady = true;
-      return;
-    }
-
-    // Ignorar todo hasta completar el handshake
-    if (!espReady) return;
-
     if      (c == 'F') forward();
     else if (c == 'B') backward();
     else if (c == 'L') left();
diff --git a/Esp32Cam/Esp32Cam.ino b/Esp32Cam/Esp32Cam.ino
index 9249370..973ae27 100644
--- a/Esp32Cam/Esp32Cam.ino
+++ b/Esp32Cam/Esp32Cam.ino
@@ -10,7 +10,7 @@
 // ================================================================
 //  OTA CONFIG
 // ================================================================
-#define FW_VERSION   15
+#define FW_VERSION   16
 #define GITEA_HOST   "https://git.nacho.myds.me"
 #define GITEA_OWNER  "Natxo"
 #define GITEA_REPO   "Arduino-Car"
@@ -24,31 +24,6 @@ const char *password = "Suprak1llm1ndS23S";
 void startCameraServer();
 void setupLedFlash();
 
-// ── Handshake bidireccional — tarea FreeRTOS (no bloquea setup) ─
-// Corre en paralelo con el servidor web. Envía "GO\n" cada 300ms
-// hasta recibir "OK\n" o agotar 30s.
-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);  // timeout
-}
 
 // ── OTA: comprueba si hay firmware nuevo y actualiza si hace falta ──
 static void checkOTA() {
@@ -172,9 +147,6 @@ void setup() {
 
   // ── Servidor cámara ───────────────────────────────────────────────
   startCameraServer();
-
-  // Handshake en tarea separada — no bloquea setup() ni el watchdog
-  xTaskCreate(handshakeTask, "handshake", 4096, NULL, 1, NULL);
 }
 
 void loop() {
diff --git a/Esp32Cam/app_httpd.cpp b/Esp32Cam/app_httpd.cpp
index f9ba29f..5da9d47 100644
--- a/Esp32Cam/app_httpd.cpp
+++ b/Esp32Cam/app_httpd.cpp
@@ -48,21 +48,6 @@ static const char *_STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %
 httpd_handle_t stream_httpd = NULL;
 httpd_handle_t camera_httpd = NULL;
 
-// ── Watchdog de motores ────────────────────────────────────────────
-// Si no llega ningún comando de movimiento en 400ms → para automáticamente
-static volatile bool    motorMoving   = false;
-static volatile int64_t lastMoveCmdUs = 0;
-#define WATCHDOG_US 800000LL   // 800ms — se retroalimenta con heartbeat JS cada 150ms
-
-static void motorWatchdogTask(void *) {
-  while (1) {
-    if (motorMoving && (esp_timer_get_time() - lastMoveCmdUs) > WATCHDOG_US) {
-      Serial.print("S\n");
-      motorMoving = false;
-    }
-    vTaskDelay(pdMS_TO_TICKS(80));
-  }
-}
 
 typedef struct {
   size_t size;   //number of values used for filtering
@@ -371,16 +356,6 @@ static esp_err_t cmd_handler(httpd_req_t *req) {
     } else {
       Serial.printf("%s\n", value);
     }
-    // Watchdog: registra comandos de movimiento
-    if (!strcmp(variable, "car")) {
-      char c = value[0];
-      if (c=='F' || c=='B' || c=='L' || c=='R') {
-        motorMoving   = true;
-        lastMoveCmdUs = esp_timer_get_time();
-      } else if (c == 'S') {
-        motorMoving = false;
-      }
-    }
   }
 
   if (res < 0) {
@@ -809,7 +784,6 @@ void startCameraServer() {
     httpd_register_uri_handler(stream_httpd, &stream_uri);
   }
 
-  xTaskCreate(motorWatchdogTask, "motorWD", 2048, NULL, 1, NULL);
 }
 
 void setupLedFlash() {
diff --git a/firmware/esp32cam/firmware.bin b/firmware/esp32cam/firmware.bin
index 1596f30..8ef645d 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 3f10ffe..19c7bdb 100644
--- a/firmware/esp32cam/version.txt
+++ b/firmware/esp32cam/version.txt
@@ -1 +1 @@
-15
\ No newline at end of file
+16
\ No newline at end of file
diff --git a/firmware/esp8266/firmware.bin b/firmware/esp8266/firmware.bin
index a7fc666..382f007 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 ca7bf83..19c7bdb 100644
--- a/firmware/esp8266/version.txt
+++ b/firmware/esp8266/version.txt
@@ -1 +1 @@
-13
\ No newline at end of file
+16
\ No newline at end of file