diff --git a/Robotito/include/control.h b/Robotito/include/control.h
index 29116c8de8f2027871a75859109db3ed2cb4f2a6..b50ac9db54ede946f8e8ade9f044f08a2936b99d 100644
--- a/Robotito/include/control.h
+++ b/Robotito/include/control.h
@@ -45,18 +45,10 @@
 
 #define TICS_TO_RAD_S RAD_PER_TICK/OMNI_ODOM_CTRL_TIMER
 
-/*Procedimiento de Ziegler-Nichols:
-    1- Variar la constante Kp desde 0 hasta registrar oscilaciones oscilaciones estables y consistentes
-        Registramos: Periodo de oscilacion Tu = 0,1666666667 y Ku = 0.26, donde Ku = Kp@ocilaciones
-    2- Suponiendo que trabajremos con un PI entonces se deben fijar:
-        a- Kp = 0.45 * Ku
-        b- Ki = 0.54 * Ku / Tu 
-*/
-
-#define KP 0.15 //
-#define KI 0.08 //0.05
-#define KD 0.00
-#define KF MAX_SPEED_POWER/MAX_SPEED_TICS
+
+#define KP 0.3      // Proportional component of the PID
+#define KI 0.6      // Integral component of the PID
+#define KD 0.001    // Differential component of the PID
 
 typedef struct {
 
diff --git a/Robotito/src/main.c b/Robotito/src/main.c
index 8a8340e1bd6824312fac665d5b12eeb8f6e80d5b..aa3ead8b29ab2fa793fa20089011164c67231e99 100644
--- a/Robotito/src/main.c
+++ b/Robotito/src/main.c
@@ -76,7 +76,7 @@ static void init_uart(void)
     };
     uart_param_config(UART_NUM, &uart_config);
 
-    uart_set_pin(UART_NUM, 5, 4, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
+    uart_set_pin(UART_NUM, 0, 4, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE);
 
     uart_driver_install(UART_NUM, 1024, 1024, 5, &uart_queue, 0);
     xTaskCreate(uart_task, "uart_task", TASK_MEMORY, NULL, 5, NULL);
@@ -88,7 +88,7 @@ void app_main(void)
     printf("Configuring Initial Parameters of mcpwm...\n");
     omni_init();
     omni_set_enable(true);
-    while (1) {       
-        vTaskDelay( 300000/ portTICK_RATE_MS);
+    while (1) {   
+        vTaskDelay( portMAX_DELAY);
     } 
 }
\ No newline at end of file