diff --git a/Robotito/include/control.h b/Robotito/include/control.h
index 1168f0c75d7ecba23ec34c9f8be49f5410078d05..364cf6e07dd40fd71608634946da14d3769584bb 100644
--- a/Robotito/include/control.h
+++ b/Robotito/include/control.h
@@ -65,6 +65,7 @@ typedef struct {
 
     int32_t vel_counter;
     int32_t odom_counter;
+    int32_t counter;
 
     float target_v;
     float accum_error;
diff --git a/Robotito/src/control/control.c b/Robotito/src/control/control.c
index 46891b77e9f5c3a77be8bec180fd279873c82d01..2d1db29b25bc3d479278605eef3f689d4b0f75e0 100644
--- a/Robotito/src/control/control.c
+++ b/Robotito/src/control/control.c
@@ -8,6 +8,8 @@
 static void callback_enc_func(int i_callback, int8_t dir, uint32_t counter) {
     motors[i_callback].vel_counter+=dir;
     motors[i_callback].odom_counter+=dir;
+    motors[i_callback].counter+=dir;
+    printf("Motor %d tics: %d\n", i_callback, motors[i_callback].counter);
 }
 
 static void getW(sF3dVector_t* v, float phi){
@@ -55,7 +57,6 @@ static void callback_motors_pid(){
 
         float current_v  = m->vel_counter / OMNI_PID_CTRL_TIMER;  // compute curren motor vel in counts/s
         m->vel_counter = 0; // reset counter
-        printf("motor %i, target_v: %f, current_v: %f\n", i, m->target_v, current_v);
 
         float error = m->target_v - current_v; // compute error
 
@@ -83,13 +84,7 @@ static void callback_motors_pid(){
 
 
     // set motors speeds
-    for (int i=0; i<NMOTORS; i++) {
-        //if (i==1)
-        //{
-        //    printf("Velocidad del motor %d es %.15f \n", i,motors[i].output );
-        //}
-        motor_set_speed(motors[i].driver, motors[i].output);
-    }
+
 }
 
 static void callback_odometry(){
diff --git a/Robotito/src/main.c b/Robotito/src/main.c
index ab74e754cd0ff87a60aad194f45d8c1a0c17165c..98e0558664dbbb853a62f5682259ca192e0d7fb1 100644
--- a/Robotito/src/main.c
+++ b/Robotito/src/main.c
@@ -29,7 +29,6 @@ void app_main(void)
     omni_init();
     omni_set_enable(true);
     while (1) {       
-        omni_drive(0,0,PI/4,0);
         vTaskDelay( 300000/ portTICK_RATE_MS);
     } 
 }
\ No newline at end of file