diff --git a/Robotito/src/control/control.c b/Robotito/src/control/control.c
index 5aba34fb5b090c6d0bd4b9f4b9e7e2c57a1d40b0..60f5beb5b05e18a623d5f6137fe3931b4f3edf00 100644
--- a/Robotito/src/control/control.c
+++ b/Robotito/src/control/control.c
@@ -105,14 +105,14 @@ static void callback_odometry(){
     o->y_dot     = v->y;
     o->phi      += v->z * OMNI_ODOM_CTRL_TIMER;
     o->phi_dot   = v->z;
-    
-
-    float_buffer[0] = o->x;
-    float_buffer[1] = o->x_dot;
-    float_buffer[2] = o->y;
-    float_buffer[3] = o->y_dot;
-    float_buffer[4] = o->phi;
-    float_buffer[5] = o->phi_dot;
+        
+
+    float_buffer[0] = tics_motores[0]/OMNI_ODOM_CTRL_TIMER;
+    float_buffer[1] = motors[0].target_v;
+    float_buffer[2] = tics_motores[1]/OMNI_ODOM_CTRL_TIMER;
+    float_buffer[3] = motors[1].target_v;
+    float_buffer[4] = tics_motores[2]/OMNI_ODOM_CTRL_TIMER;
+    float_buffer[5] = motors[2].target_v;
     uart_write_bytes(UART_NUM_2, float_buffer, sizeof(float)*6 );
     free(v);
 }