diff --git a/Robotito/src/control/include/control.h b/Robotito/src/control/include/control.h
deleted file mode 100644
index 8470f8cd76a5c39bd99b507e4090334f16fe1131..0000000000000000000000000000000000000000
--- a/Robotito/src/control/include/control.h
+++ /dev/null
@@ -1,84 +0,0 @@
-#ifndef CONTROL_H
-#define CONTROL_H
-
-#include <stdint.h>
-#include "esp_err.h"
-#include "motors.h"
-#include "encoders.h"
-#include "hwTimer.h"
-#include "math_vector_operations.h"
-
-#define NMOTORS 3
-#define MOTOR_PINS {25,26, 27,28, 29,30}
-#define MOTOR_ENC {39,37, 38,36, 34,35}
-
-#define MOTOR_PWM_SUBUNIT_IO {MCPWM0A, MCPWM0B, MCPWM1A, MCPWM1B, MCPWM2A, MCPWM2B}
-#define MOTOR_PWM_SUBUNIT_TIMER {MCPWM_TIMER_0, MCPWM_TIMER_1, MCPWM_TIMER_2}
-#define MOTOR_PWM_UNIT MCPWM_UNIT_0
-#define OMNI_PID_NRO_TIMER 0
-#define OMNI_ODOM_NRO_TIMER 2
-
-#define OMNI_PID_CTRL_TIMER 0.05 // in seconds
-#define OMNI_ODOM_CTRL_TIMER 0.5 // in seconds
-
-#define MAX_OUTPUT 100.0
-#define WHEEL_DIAMETER 0.038 // in meters
-#define WHEEL_RADIUS WHEEL_DIAMETER/2// in meters
-#define ROBOT_RADIUS 0.0675 // in meters
-
-#define ENC_CPR 3 //counts per revolution
-#define MOTOR_REDUCTION 50
-#define TICS_PER_REVOLUTION ENC_CPR*MOTOR_REDUCTION
-#define RAD_PER_TICK 2*PI/TICS_PER_REVOLUTION
-#define M_PER_SEC_TO_TICS_PER_SEC 1/(RAD_PER_TICK*WHEEL_RADIUS)
-
-#define MAX_SPEED_POWER 90 // power % at which MAX_SPEED_TICS is obtained
-#define MAX_SPEED_TICS 1080 //tics/s at MAX_SPEED_POWER
-
-#define MAX_SPEED_RAD MAX_SPEED_TICS*RAD_PER_TICK // rad/s
-#define MAX_SPEED_LIN MAX_SPEED_RAD*WHEEL_DIAMETER / 2 // m/s
-
-#define TICS_TO_RAD_S RAD_PER_TICK/OMNI_ODOM_CTRL_TIMER
-
-#define KP 0.01
-#define KI 0.05
-#define KD 0.0
-#define KF MAX_SPEED_POWER/MAX_SPEED_TICS
-
-typedef struct {
-
- motor_h_t *driver;
- encoder_h_t *encoder;
-
- int32_t vel_counter;
- int32_t odom_counter;
-
- float target_v;
- float accum_error;
- float prev_error;
- float output;
-
-} servo_t;
-
-typedef struct {
- float x;
- float x_dot;
- float y;
- float y_dot;
- float phi;
- float phi_dot;
-
-} odom_t;
-
-
-
-static servo_t motors[NMOTORS];
-static odom_t odometry;
-
-esp_err_t omni_init();
-
-esp_err_t omni_set_enable(bool start);
-
-esp_err_t omni_drive(float x_dot ,float y_dot ,float w_dot ,float phi);
-
-#endif /* CONTROL_H */
\ No newline at end of file
diff --git a/Robotito/src/encoders/include/encoders.h b/Robotito/src/encoders/include/encoders.h
deleted file mode 100644
index 1fe4f7670e3a9e300fbd1fc2b64e45f8312b5d4d..0000000000000000000000000000000000000000
--- a/Robotito/src/encoders/include/encoders.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef ENCODER_H
-#define ENCODER_H
-
-#include <stdint.h>
-#include "esp_err.h"
-
-#define CONFIG_ENCODER_THREAD_STACK_SIZE 8192
-#define CONFIG_ENCODER_THREAD_PRIORITY 20
-#define CONFIG_ENCODER_CPU 0
-
-typedef void (*encoder_callback_t)(int, int8_t, uint32_t);
-
-typedef struct {
- int8_t A; ///< A pin
- int8_t B; ///< B pin
- uint8_t state; ///< Current state's machine state
- int32_t counter; ///< Current counter value
- encoder_callback_t callback; ///< Callback function
- int callback_id; ///< Callback id
- uint8_t deferred; ///< Deferred callback?
-} encoder_h_t;
-
-typedef struct {
- encoder_h_t *h;
- int8_t dir;
- uint32_t counter;
-} encoder_deferred_data_t;
-
-esp_err_t encoder_setup(int8_t a, int8_t b, encoder_h_t **h);
-esp_err_t encoder_unsetup(encoder_h_t *h);
-esp_err_t encoder_read(encoder_h_t *h, int32_t *val);
-esp_err_t encoder_write(encoder_h_t *h, int32_t val);
-esp_err_t encoder_register_callback(encoder_h_t *h, encoder_callback_t callback, int id, uint8_t deferred);
-
-#endif /* ENCODER_H */
\ No newline at end of file
diff --git a/Robotito/src/hwTimer/include/hwTimer.h b/Robotito/src/hwTimer/include/hwTimer.h
deleted file mode 100644
index 99936eb973076f3168af44f998cd3eec25b43189..0000000000000000000000000000000000000000
--- a/Robotito/src/hwTimer/include/hwTimer.h
+++ /dev/null
@@ -1,130 +0,0 @@
-#ifndef TIMER_H
-#define TIMER_H
-
-#include "driver/timer.h"
-#include <stdint.h>
-#include "esp_err.h"
-
-
-#define CONFIG_HWTIMER_THREAD_STACK_SIZE 8192
-#define CONFIG_HWTIMER_THREAD_PRIORITY 10
-#define CPU_LAST_TIMER 3
-#define CPU_FIRST_TIMER 0
-
-
-typedef struct{
- int8_t unit;
-} tmr_alarm_t;
-
-typedef struct {
- uint8_t setup;
- void (*callback)(void *);
- timer_isr_handle_t isrh;
-} tmr_t;
-
-typedef void(*tmr_isr_t)(void *);
-
-/**
- * @brief Configures a timer. After timer is configured you must start timer using
- * tmr_start function. No sanity checks are done (use only in driver develop).
- *
- * @param unit Hardware timer, from 0 to 3.
- * @param micros Period of timer, in microseconds.
- * @param callback Callback function to call every micros period.
- * @param deferred If 0, the callback are executed in the isr. If 1, the callback
- * is deferred and is called outside the interrupt. Non deferred
- * callbacks must reside in IRAM.
- *
- * @return 0 if success, -1 if error (memory error)
- *
- */
-int tmr_ll_setup(uint8_t unit, uint32_t micros, void(*callback)(void *));
-
-/**
- * @brief Removes a timer and the resources that uses.
- * tmr_start function. No sanity checks are done (use only in driver develop).
- *
- * @param unit Hardware timer, from 0 to 3.
- */
-void tmr_ll_unsetup(uint8_t unit);
-
-/**
- * @brief Start a previous configured timer. No sanity checks are done (use only in driver develop).
- *
- * @param unit Hardware timer, from 0 to 3.
- */
-void tmr_ll_start(uint8_t unit);
-
-/**
- * @brief Stop a previous configured timer. No sanity checks are done (use only in driver develop).
- *
- * @param unit Hardware timer, from 0 to 3.
- */
-void tmr_ll_stop(uint8_t unit);
-
-/**
- * @brief Configures a timer. After timer is configured you must start timer using
- * tmr_start function.
- *
- * @param unit Hardware timer, from 0 to 3.
- * @param micros Period of timer, in microseconds.
- * @param callback Callback function to call every micros period.
- * @param deferred If 0, the callback are executed in the isr. If 1, the callback
- * is deferred and is called outside the interrupt. Non deferred
- * callbacks must reside in IRAM.
- *
- * @return
- * - NULL success
- * - Pointer to driver_error_t if some error occurs.
- *
- * TIMER_ERR_INVALID_UNIT
- * TIMER_ERR_INVALID_PERIOD
- * SPI_ERR_DEVICE_IS_NOT_SELECTED
- * SPI_ERR_NOT_ENOUGH_MEMORY
- */
-esp_err_t tmr_setup(int8_t unit, uint32_t micros, void(*callback)(void *));
-
-/**
- * @brief Removes a timer and the resources that uses.
- * tmr_start function. No sanity checks are done (use only in driver develop).
- *
- * @param unit Hardware timer, from 0 to 3.
- *
- * @return
- * - NULL success
- * - Pointer to driver_error_t if some error occurs.
- *
- * TIMER_ERR_INVALID_UNIT
- */
-esp_err_t tmr_unsetup(int8_t unit);
-
-/**
- * @brief Start a previous configured timer.
- *
- * @param unit Hardware timer, from 0 to 3.
- *
- * @return
- * - NULL success
- * - Pointer to driver_error_t if some error occurs.
- *
- * TIMER_ERR_IS_NOT_SETUP
- */
-esp_err_t tmr_start(int8_t unit);
-
-/**
- * @brief Stop a previous configured timer.
- *
- * @param unit Hardware timer, from 0 to 3.
- *
- * @return
- * - NULL success
- * - Pointer to driver_error_t if some error occurs.
- *
- * TIMER_ERR_IS_NOT_SETUP
- */
-esp_err_t tmr_stop(int8_t unit);
-
-void get_group_idx(int8_t unit, int *groupn, int *idx);
-
-#endif /* TIMER_H */
-
diff --git a/Robotito/src/math_vector_operations/include/math_vector_operations.h b/Robotito/src/math_vector_operations/include/math_vector_operations.h
deleted file mode 100644
index bedbbd43fdbc64e78676a8819a003d2410274db6..0000000000000000000000000000000000000000
--- a/Robotito/src/math_vector_operations/include/math_vector_operations.h
+++ /dev/null
@@ -1,65 +0,0 @@
-#ifndef VECTOR_MATH_H
-#define VECTOR_MATH_H
-
-#include "math.h"
-
-#define PI 3.1415926535897932384626433832795
-#define PIdiv180 (PI/180.0)
-#define SQR(x) (x*x)
-#define SGN(x) (x<0?-1:1)
-#define ABS(x) (x<0?-x:x)
-#define NULL_VECTOR F3dVector(0.0f,0.0f,0.0f)
-
-/////////////////////////////////
-//Note: All angles in degrees //
-/////////////////////////////////
-
-typedef struct {
- float x,y,z;
-} sF3dVector_t;
-
-typedef struct {
- float x1,y1,z1,x2,y2,z2,x3,y3,z3;
-} sF3dMatrix_t;
-
-
-float getLength(sF3dVector_t* v);
-void normalize(sF3dVector_t* v);
-
-
-/**
- * v = v + v2
-**/
-void sum (sF3dVector_t* v, sF3dVector_t v2);
-
-/**
- * v = v - v2
-**/
-
-void difference (sF3dVector_t* v, sF3dVector_t v2);
-
-/**
- * v = v*r
-**/
-void float_mul (sF3dVector_t* v, float r);
-
-/**
- * v = v/r
-**/
-void float_div (sF3dVector_t* v, float r);
-
-/**
- * ret dot product
-**/
-float dotProduct (sF3dVector_t* v, sF3dVector_t v2);
-
-/**
- * ret v = vectorial product
-**/
-void crossProduct (sF3dVector_t* v, sF3dVector_t v2);
-
-/**
- * v = M*v
-**/
-void vector_mul (sF3dMatrix_t m, sF3dVector_t* v);
-#endif /* VECTOR_MATH_H */
\ No newline at end of file
diff --git a/Robotito/src/motors/include/motors.h b/Robotito/src/motors/include/motors.h
deleted file mode 100644
index b2bfbed2c40c089bd66e3f1a389c447dd9a0142a..0000000000000000000000000000000000000000
--- a/Robotito/src/motors/include/motors.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
-Program: Motor Library
-
-File: Motor.h
-*/
-#ifndef DRV8833_h
-#define DRV8833_h
-
-#include <stdint.h>
-#include "esp_err.h"
-#include "driver/mcpwm.h"
-
-typedef struct {
- int intSpeed;
- int8_t pin1;
- int8_t pin2;
- char info; // bit0: isrunning, bit1: braked
- double defaultDuty;
- mcpwm_unit_t mcpwm_unit;
- mcpwm_io_signals_t mcpwm_a;
- mcpwm_io_signals_t mcpwm_b;
- mcpwm_timer_t mcpwm_timer;
-} motor_h_t;
-
-
-esp_err_t motor_install(int8_t a, int8_t b, mcpwm_unit_t pwm_u, mcpwm_io_signals_t pwm1, mcpwm_io_signals_t pwm2, mcpwm_timer_t t, motor_h_t **m);
-esp_err_t motor_set_speed(motor_h_t *m, int intIn);
-esp_err_t motor_stop(motor_h_t *m);
-esp_err_t motor_start(motor_h_t *m);
-
-#endif /* DRV8833_h */
\ No newline at end of file