diff --git a/Otros/Hojas de datos/tcrt1000.pdf b/Otros/Hojas de datos/tcrt1000.pdf
new file mode 100644
index 0000000..0d65717
Binary files /dev/null and b/Otros/Hojas de datos/tcrt1000.pdf differ
diff --git a/Placas/Placa_Tito_2013/Placa_principal/Alimentacion.sch b/Placas/Placa_Tito_2013/Placa_principal/Alimentacion.sch
index 7cf0253..77a3f49 100644
--- a/Placas/Placa_Tito_2013/Placa_principal/Alimentacion.sch
+++ b/Placas/Placa_Tito_2013/Placa_principal/Alimentacion.sch
@@ -1,4 +1,4 @@
-EESchema Schematic File Version 2
+EESchema Schematic File Version 2  date jue 12 jun 2014 20:15:01 ART
 LIBS:power
 LIBS:device
 LIBS:transistors
@@ -32,17 +32,16 @@ LIBS:valves
 LIBS:L298
 LIBS:7805b
 LIBS:reg_204-5
-LIBS:cny70
 LIBS:tcrt1000
 LIBS:drv8833
 LIBS:placa_principal-cache
-EELAYER 27 0
+EELAYER 25  0
 EELAYER END
-$Descr A4 11693 8268
+$Descr A4 11700 8267
 encoding utf-8
 Sheet 4 4
 Title ""
-Date "5 jun 2014"
+Date "12 jun 2014"
 Rev ""
 Comp ""
 Comment1 ""
@@ -50,25 +49,154 @@ Comment2 ""
 Comment3 ""
 Comment4 ""
 $EndDescr
-$Comp
-L GND #PWR?
-U 1 1 5390D66F
-P 6950 3600
-F 0 "#PWR?" H 6950 3600 30  0001 C CNN
-F 1 "GND" H 6950 3530 30  0001 C CNN
-F 2 "" H 6950 3600 60  0001 C CNN
-F 3 "" H 6950 3600 60  0001 C CNN
-	1    6950 3600
-	1    0    0    -1  
-$EndComp
+Wire Wire Line
+	5250 2100 5350 2100
+Connection ~ 3900 3050
+Wire Wire Line
+	3900 3200 3900 3000
+Wire Wire Line
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+Wire Wire Line
+	6050 5700 5850 5700
+Connection ~ 5850 5550
+Wire Wire Line
+	5850 5700 5850 5550
+Wire Wire Line
+	7150 3650 6950 3650
+Wire Wire Line
+	6950 3650 6950 3550
+Wire Wire Line
+	5250 2300 6050 2300
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+	7250 2750 5600 2750
+Wire Wire Line
+	7250 3950 6650 3950
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
+	5650 5000 5500 5000
+Wire Wire Line
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+	6650 5700 6650 5000
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+	6650 4800 6950 4800
+Wire Wire Line
+	6950 4800 6950 4900
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+Wire Wire Line
+	7250 5700 7250 2750
+Wire Wire Line
+	3900 3400 3900 3500
+Wire Wire Line
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+Wire Wire Line
+	5650 3050 4950 3050
+Wire Wire Line
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+Wire Wire Line
+	3900 5350 4950 5350
+Wire Wire Line
+	5650 4800 4950 4800
+Wire Wire Line
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+Wire Wire Line
+	3900 3050 3750 3050
+Wire Wire Line
+	6050 2300 6050 2750
+Connection ~ 6050 2750
+Wire Wire Line
+	5500 3700 5500 3800
+Connection ~ 5500 3800
+Wire Wire Line
+	4900 3300 4950 3300
+Wire Wire Line
+	4950 3050 4950 3500
+Connection ~ 4950 3300
+Wire Wire Line
+	5650 3250 5500 3250
+Wire Wire Line
+	5500 3250 5500 3300
+Wire Wire Line
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+Connection ~ 5150 3050
+Wire Wire Line
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+Connection ~ 5150 3800
+Wire Wire Line
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+Wire Wire Line
+	4950 5150 4900 5150
+Connection ~ 4950 5150
+Wire Wire Line
+	5500 5000 5500 5050
+Wire Wire Line
+	5500 5550 5500 5450
+Wire Wire Line
+	5150 4800 5150 5050
+Wire Wire Line
+	5150 5550 5150 5450
+Connection ~ 5500 5550
+Wire Wire Line
+	3800 3050 3800 2900
+Connection ~ 3800 3050
+Wire Wire Line
+	4150 3750 4150 3800
+Connection ~ 4150 3800
+Wire Wire Line
+	5600 2750 5600 3050
+Connection ~ 5600 3050
+Wire Wire Line
+	5350 2100 5350 1950
+Wire Wire Line
+	5550 3200 5550 3250
+Connection ~ 5550 3250
+Wire Wire Line
+	5550 4950 5550 5000
+Connection ~ 5550 5000
+Connection ~ 4500 3800
+Wire Wire Line
+	4500 3800 4500 3950
+Wire Wire Line
+	4500 3950 4700 3950
+Wire Wire Line
+	6950 5300 6950 5400
+Wire Wire Line
+	6950 5400 7150 5400
+Wire Wire Line
+	3900 4850 3900 5050
+Wire Wire Line
+	3900 3000 4050 3000
+Text Label 4050 3000 2    60   ~ 0
+VDD
+Text Label 4100 4850 2    60   ~ 0
+VDD
+Text Label 6050 5700 2    60   ~ 0
+GND
+Text Label 7150 5400 2    60   ~ 0
+GND
+Text Label 7150 3650 2    60   ~ 0
+GND
+Text Label 4700 3950 2    60   ~ 0
+GND
 $Comp
 L C C?
 U 1 1 5390D675
 P 6950 3350
 F 0 "C?" H 7000 3450 50  0000 L CNN
-F 1 "10 nF" H 7000 3250 50  0000 L CNN
-F 2 "" H 6950 3350 60  0001 C CNN
-F 3 "" H 6950 3350 60  0001 C CNN
+F 1 "10 n" H 7000 3250 50  0000 L CNN
 	1    6950 3350
 	1    0    0    -1  
 $EndComp
@@ -78,30 +206,15 @@ U 1 1 5390D681
 P 6150 3150
 F 0 "U?" H 5900 3350 60  0000 C CNN
 F 1 "REG_104-5" H 6150 3450 60  0000 C CNN
-F 2 "" H 6150 3150 60  0001 C CNN
-F 3 "" H 6150 3150 60  0001 C CNN
 	1    6150 3150
 	1    0    0    -1  
 $EndComp
 $Comp
-L GND #PWR?
-U 1 1 5390D687
-P 5750 3850
-F 0 "#PWR?" H 5750 3850 30  0001 C CNN
-F 1 "GND" H 5750 3780 30  0001 C CNN
-F 2 "" H 5750 3850 60  0001 C CNN
-F 3 "" H 5750 3850 60  0001 C CNN
-	1    5750 3850
-	1    0    0    -1  
-$EndComp
-$Comp
 L CONN_2 P?
 U 1 1 5390D68D
 P 3400 3150
 F 0 "P?" V 3350 3150 40  0000 C CNN
-F 1 "Bateria 7,2V" V 3450 3150 40  0000 C CNN
-F 2 "" H 3400 3150 60  0001 C CNN
-F 3 "" H 3400 3150 60  0001 C CNN
+F 1 "Batería 7,2V" V 3450 3150 40  0000 C CNN
 	1    3400 3150
 	-1   0    0    1   
 $EndComp
@@ -110,9 +223,7 @@ L CAPAPOL C?
 U 1 1 5390D693
 P 5500 3500
 F 0 "C?" H 5550 3600 50  0000 L CNN
-F 1 "220 uF" H 5550 3400 50  0000 L CNN
-F 2 "" H 5500 3500 60  0001 C CNN
-F 3 "" H 5500 3500 60  0001 C CNN
+F 1 "220 u" H 5550 3400 50  0000 L CNN
 	1    5500 3500
 	1    0    0    -1  
 $EndComp
@@ -121,42 +232,16 @@ L CONN_2 P?
 U 1 1 5390D699
 P 4900 2200
 F 0 "P?" V 4850 2200 40  0000 C CNN
-F 1 "Bateria 3,6V" V 4950 2200 40  0000 C CNN
-F 2 "" H 4900 2200 60  0001 C CNN
-F 3 "" H 4900 2200 60  0001 C CNN
+F 1 "Batería 3,6V" V 4950 2200 40  0000 C CNN
 	1    4900 2200
 	-1   0    0    1   
 $EndComp
 $Comp
-L +BATT #PWR?
-U 1 1 5390D69F
-P 5450 1950
-F 0 "#PWR?" H 5450 1900 20  0001 C CNN
-F 1 "+BATT" H 5450 2050 30  0000 C CNN
-F 2 "" H 5450 1950 60  0001 C CNN
-F 3 "" H 5450 1950 60  0001 C CNN
-	1    5450 1950
-	1    0    0    -1  
-$EndComp
-$Comp
-L GND #PWR?
-U 1 1 5390D6C5
-P 6950 5350
-F 0 "#PWR?" H 6950 5350 30  0001 C CNN
-F 1 "GND" H 6950 5280 30  0001 C CNN
-F 2 "" H 6950 5350 60  0001 C CNN
-F 3 "" H 6950 5350 60  0001 C CNN
-	1    6950 5350
-	1    0    0    -1  
-$EndComp
-$Comp
 L C C?
 U 1 1 5390D6CB
 P 6950 5100
 F 0 "C?" H 7000 5200 50  0000 L CNN
-F 1 "10 nF" H 7000 5000 50  0000 L CNN
-F 2 "" H 6950 5100 60  0001 C CNN
-F 3 "" H 6950 5100 60  0001 C CNN
+F 1 "10 n" H 7000 5000 50  0000 L CNN
 	1    6950 5100
 	1    0    0    -1  
 $EndComp
@@ -166,30 +251,15 @@ U 1 1 5390D6D1
 P 6150 4900
 F 0 "U?" H 5900 5100 60  0000 C CNN
 F 1 "REG_104-3.3" H 6150 5200 60  0000 C CNN
-F 2 "" H 6150 4900 60  0001 C CNN
-F 3 "" H 6150 4900 60  0001 C CNN
 	1    6150 4900
 	1    0    0    -1  
 $EndComp
 $Comp
-L GND #PWR?
-U 1 1 5390D6D7
-P 5950 5600
-F 0 "#PWR?" H 5950 5600 30  0001 C CNN
-F 1 "GND" H 5950 5530 30  0001 C CNN
-F 2 "" H 5950 5600 60  0001 C CNN
-F 3 "" H 5950 5600 60  0001 C CNN
-	1    5950 5600
-	1    0    0    -1  
-$EndComp
-$Comp
 L CAPAPOL C?
 U 1 1 5390D6DD
 P 5500 5250
 F 0 "C?" H 5550 5350 50  0000 L CNN
-F 1 "220 uF" H 5550 5150 50  0000 L CNN
-F 2 "" H 5500 5250 60  0001 C CNN
-F 3 "" H 5500 5250 60  0001 C CNN
+F 1 "220 u" H 5550 5150 50  0000 L CNN
 	1    5500 5250
 	1    0    0    -1  
 $EndComp
@@ -199,8 +269,6 @@ U 1 1 5390D6F5
 P 4400 3300
 F 0 "SW?" H 4200 3450 50  0000 C CNN
 F 1 "DUAL_SWITCH_INV" H 4250 3150 50  0000 C CNN
-F 2 "" H 4400 3300 60  0000 C CNN
-F 3 "" H 4400 3300 60  0000 C CNN
 	1    4400 3300
 	-1   0    0    1   
 $EndComp
@@ -210,185 +278,39 @@ U 1 1 5390D6FB
 P 4400 5150
 F 0 "SW?" H 4200 5300 50  0000 C CNN
 F 1 "DUAL_SWITCH_INV" H 4250 5000 50  0000 C CNN
-F 2 "" H 4400 5150 60  0000 C CNN
-F 3 "" H 4400 5150 60  0000 C CNN
 	1    4400 5150
 	-1   0    0    1   
 $EndComp
-Connection ~ 5300 2100
-Wire Wire Line
-	5250 2300 6050 2300
-Wire Wire Line
-	5250 2100 5450 2100
-Wire Wire Line
-	5600 2750 7250 2750
-Wire Wire Line
-	6650 3950 7250 3950
-Connection ~ 5750 3800
-Wire Wire Line
-	5750 3800 5750 3850
-Wire Wire Line
-	3750 3800 6150 3800
-Wire Wire Line
-	6150 3800 6150 3600
-Wire Wire Line
-	6950 3550 6950 3600
-Wire Wire Line
-	6650 3250 6650 3950
-Wire Wire Line
-	6950 3050 6650 3050
-Wire Wire Line
-	6950 3150 6950 3050
-Wire Wire Line
-	5450 2100 5450 1950
-Wire Wire Line
-	5500 5000 5650 5000
-Wire Wire Line
-	7250 5700 6650 5700
-Wire Wire Line
-	6150 5550 6150 5350
-Wire Wire Line
-	6950 5300 6950 5350
-Wire Wire Line
-	6650 5700 6650 5000
-Wire Wire Line
-	6950 4800 6650 4800
-Wire Wire Line
-	6950 4900 6950 4800
-Wire Wire Line
-	5150 5550 6150 5550
-Connection ~ 7250 3950
-Wire Wire Line
-	7250 2750 7250 5700
-Wire Wire Line
-	3900 3400 3900 3500
-Wire Wire Line
-	3900 3500 4950 3500
-Wire Wire Line
-	4950 3050 5650 3050
-Wire Wire Line
-	3900 5250 3900 5350
-Wire Wire Line
-	3900 5350 4950 5350
-Wire Wire Line
-	3900 5050 3900 4800
-Wire Wire Line
-	4950 4800 5650 4800
-Wire Wire Line
-	3750 3800 3750 3250
-Wire Wire Line
-	3750 3050 3900 3050
-Wire Wire Line
-	3900 3000 3900 3200
-Connection ~ 3900 3050
-Wire Wire Line
-	5950 5550 5950 5600
-Connection ~ 5950 5550
-Wire Wire Line
-	6050 2300 6050 2750
-Connection ~ 6050 2750
-Wire Wire Line
-	5500 3700 5500 3800
-Connection ~ 5500 3800
-Wire Wire Line
-	4900 3300 4950 3300
-Wire Wire Line
-	4950 3500 4950 3050
-Connection ~ 4950 3300
-Wire Wire Line
-	5650 3250 5500 3250
-Wire Wire Line
-	5500 3250 5500 3300
 $Comp
 L C C?
 U 1 1 5390D8D2
 P 5150 3500
 F 0 "C?" H 5150 3600 40  0000 L CNN
-F 1 "100 nF" H 5156 3415 40  0000 L CNN
+F 1 "100 n" H 5156 3415 40  0000 L CNN
 F 2 "~" H 5188 3350 30  0000 C CNN
 F 3 "~" H 5150 3500 60  0000 C CNN
 	1    5150 3500
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
-	5150 3050 5150 3300
-Connection ~ 5150 3050
-Wire Wire Line
-	5150 3700 5150 3800
-Connection ~ 5150 3800
-Wire Wire Line
-	4950 5350 4950 4800
-Wire Wire Line
-	4950 5150 4900 5150
-Connection ~ 4950 5150
-Wire Wire Line
-	5500 5000 5500 5050
-Wire Wire Line
-	5500 5550 5500 5450
 $Comp
 L C C?
 U 1 1 5390DAD4
 P 5150 5250
 F 0 "C?" H 5150 5350 40  0000 L CNN
-F 1 "100 nF" H 5156 5165 40  0000 L CNN
+F 1 "100 n" H 5156 5165 40  0000 L CNN
 F 2 "~" H 5188 5100 30  0000 C CNN
 F 3 "~" H 5150 5250 60  0000 C CNN
 	1    5150 5250
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
-	5150 4800 5150 5050
-Wire Wire Line
-	5150 5450 5150 5550
-Connection ~ 5500 5550
 Text HLabel 3800 2900 0    60   Input ~ 0
-VDD
-Wire Wire Line
-	3800 3050 3800 2900
-Connection ~ 3800 3050
+Vdd
 Text HLabel 4150 3750 0    60   Input ~ 0
-GND
-Wire Wire Line
-	4150 3750 4150 3800
-Connection ~ 4150 3800
-Wire Wire Line
-	5600 3050 5600 2750
-Connection ~ 5600 3050
+Gnd
 Text HLabel 5350 1950 0    60   Input ~ 0
-+BATT
-Wire Wire Line
-	5350 1950 5350 2100
-Connection ~ 5350 2100
++Batt
 Text HLabel 5550 3200 0    60   Input ~ 0
 +5V
-Wire Wire Line
-	5550 3200 5550 3250
-Connection ~ 5550 3250
 Text HLabel 5550 4950 0    60   Input ~ 0
 +3,3V
-Wire Wire Line
-	5550 4950 5550 5000
-Connection ~ 5550 5000
-$Comp
-L VDD #PWR?
-U 1 1 5391014C
-P 3900 3000
-F 0 "#PWR?" H 3900 3100 30  0001 C CNN
-F 1 "VDD" H 3900 3110 30  0000 C CNN
-F 2 "" H 3900 3000 60  0000 C CNN
-F 3 "" H 3900 3000 60  0000 C CNN
-	1    3900 3000
-	1    0    0    -1  
-$EndComp
-$Comp
-L VDD #PWR?
-U 1 1 53910163
-P 3900 4800
-F 0 "#PWR?" H 3900 4900 30  0001 C CNN
-F 1 "VDD" H 3900 4910 30  0000 C CNN
-F 2 "" H 3900 4800 60  0000 C CNN
-F 3 "" H 3900 4800 60  0000 C CNN
-	1    3900 4800
-	1    0    0    -1  
-$EndComp
 $EndSCHEMATC
diff --git a/Placas/Placa_Tito_2013/Placa_principal/Control_motores.sch b/Placas/Placa_Tito_2013/Placa_principal/Control_motores.sch
index 30817e9..63640a6 100644
--- a/Placas/Placa_Tito_2013/Placa_principal/Control_motores.sch
+++ b/Placas/Placa_Tito_2013/Placa_principal/Control_motores.sch
@@ -1,4 +1,4 @@
-EESchema Schematic File Version 2
+EESchema Schematic File Version 2  date jue 12 jun 2014 20:15:01 ART
 LIBS:power
 LIBS:device
 LIBS:transistors
@@ -32,17 +32,16 @@ LIBS:valves
 LIBS:L298
 LIBS:7805b
 LIBS:reg_204-5
-LIBS:cny70
 LIBS:tcrt1000
 LIBS:drv8833
 LIBS:placa_principal-cache
-EELAYER 27 0
+EELAYER 25  0
 EELAYER END
-$Descr A4 11693 8268
+$Descr A4 11700 8267
 encoding utf-8
 Sheet 2 4
 Title ""
-Date "5 jun 2014"
+Date "12 jun 2014"
 Rev ""
 Comp ""
 Comment1 ""
@@ -50,6 +49,137 @@ Comment2 ""
 Comment3 ""
 Comment4 ""
 $EndDescr
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
+	8200 3650 8000 3650
+Wire Wire Line
+	8000 3650 8000 3500
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
+	7200 2250 6350 2250
+Wire Wire Line
+	7200 1800 6350 1800
+Wire Wire Line
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+Wire Wire Line
+	8850 2200 8650 2200
+Wire Wire Line
+	8650 2200 8650 2000
+Wire Wire Line
+	4350 3350 3400 3350
+Wire Wire Line
+	4350 3050 3250 3050
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
+	5750 3450 5800 3450
+Wire Wire Line
+	5750 2850 5800 2850
+Wire Wire Line
+	5800 2950 5750 2950
+Wire Wire Line
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+Wire Wire Line
+	6850 3350 6850 3750
+Wire Wire Line
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+Wire Wire Line
+	7000 3750 7000 3700
+Wire Wire Line
+	7000 3250 7000 3300
+Connection ~ 7000 3250
+Wire Wire Line
+	5750 3050 8000 3050
+Wire Wire Line
+	8000 3050 8000 3100
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Connection ~ 4100 2250
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Text Label 7500 3850 2    60   ~ 0
+GND
+Text Label 7900 3850 2    60   ~ 0
+GND
+Text Label 8200 3650 2    60   ~ 0
+GND
+NoConn ~ 4350 3550
+Text Label 9250 1550 2    60   ~ 0
+SERVO
+Text Label 8900 1900 2    60   ~ 0
+SERVO
+Text Label 8850 2200 2    60   ~ 0
+GND
+Text Label 3100 3250 0    60   ~ 0
+GND
 $Comp
 L DRV8833 U?
 U 1 1 53910CF9
@@ -62,179 +192,64 @@ F 3 "~" H 5050 3200 60  0000 C CNN
 	1    0    0    -1  
 $EndComp
 $Comp
-L GND #PWR?
-U 1 1 53910CFF
-P 3300 3100
-F 0 "#PWR?" H 3300 3100 30  0001 C CNN
-F 1 "GND" H 3300 3030 30  0001 C CNN
-F 2 "" H 3300 3100 60  0000 C CNN
-F 3 "" H 3300 3100 60  0000 C CNN
-	1    3300 3100
-	1    0    0    -1  
-$EndComp
-$Comp
 L R R?
 U 1 1 53910D0B
 P 4100 2550
 F 0 "R?" V 4180 2550 40  0000 C CNN
-F 1 "R" V 4107 2551 40  0000 C CNN
+F 1 "47 k" V 4107 2551 40  0000 C CNN
 F 2 "~" V 4030 2550 30  0000 C CNN
 F 3 "~" H 4100 2550 30  0000 C CNN
 	1    4100 2550
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
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-Wire Wire Line
-	3250 3050 4350 3050
-Wire Wire Line
-	4100 2850 4350 2850
-Wire Wire Line
-	4100 2850 4100 2800
-Wire Wire Line
-	5800 3550 5750 3550
-Wire Wire Line
-	5750 3450 5800 3450
-Wire Wire Line
-	5750 2850 5800 2850
-Wire Wire Line
-	5800 2950 5750 2950
-Wire Wire Line
-	3550 3150 4350 3150
-Wire Wire Line
-	3550 2950 4350 2950
-Wire Wire Line
-	3550 3250 4350 3250
-$Comp
-L GND #PWR?
-U 1 1 53910D28
-P 5800 3200
-F 0 "#PWR?" H 5800 3200 30  0001 C CNN
-F 1 "GND" H 5800 3130 30  0001 C CNN
-F 2 "" H 5800 3200 60  0000 C CNN
-F 3 "" H 5800 3200 60  0000 C CNN
-	1    5800 3200
-	1    0    0    -1  
-$EndComp
-Wire Wire Line
-	5750 3150 5800 3150
-Wire Wire Line
-	5800 3150 5800 3200
-Wire Wire Line
-	5750 3350 6850 3350
-Wire Wire Line
-	6850 3350 6850 3750
 $Comp
 L C C?
 U 1 1 53910D3D
 P 7000 3500
 F 0 "C?" H 7000 3600 40  0000 L CNN
-F 1 "10 nF" H 7006 3415 40  0000 L CNN
+F 1 "10 n" H 7006 3415 40  0000 L CNN
 F 2 "~" H 7038 3350 30  0000 C CNN
 F 3 "~" H 7000 3500 60  0000 C CNN
 	1    7000 3500
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
-	6850 3750 7000 3750
-Wire Wire Line
-	7000 3750 7000 3700
-Wire Wire Line
-	7000 3300 7000 3250
-Connection ~ 7000 3250
-Wire Wire Line
-	5750 3050 8000 3050
 $Comp
 L CAPAPOL C?
 U 1 1 53910D48
 P 8000 3300
 F 0 "C?" H 8050 3400 40  0000 L CNN
-F 1 "2,2 uF" H 8050 3200 40  0000 L CNN
+F 1 "2,2 u" H 8050 3200 40  0000 L CNN
 F 2 "~" H 8100 3150 30  0000 C CNN
 F 3 "~" H 8000 3300 300 0000 C CNN
 	1    8000 3300
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
-	8000 3500 8000 3550
-$Comp
-L GND #PWR?
-U 1 1 53910D4F
-P 8000 3550
-F 0 "#PWR?" H 8000 3550 30  0001 C CNN
-F 1 "GND" H 8000 3480 30  0001 C CNN
-F 2 "" H 8000 3550 60  0000 C CNN
-F 3 "" H 8000 3550 60  0000 C CNN
-	1    8000 3550
-	1    0    0    -1  
-$EndComp
-Wire Wire Line
-	8000 3050 8000 3100
-Wire Wire Line
-	7300 3250 7300 3300
 $Comp
 L CAPAPOL C?
 U 1 1 53910D57
 P 7300 3500
 F 0 "C?" H 7350 3600 40  0000 L CNN
-F 1 "2200 uF" H 7350 3400 40  0000 L CNN
+F 1 "2200 u" H 7350 3400 40  0000 L CNN
 F 2 "~" H 7400 3350 30  0000 C CNN
 F 3 "~" H 7300 3500 300 0000 C CNN
 	1    7300 3500
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
-	7300 3700 7300 3750
-$Comp
-L GND #PWR?
-U 1 1 53910D5E
-P 7300 3750
-F 0 "#PWR?" H 7300 3750 30  0001 C CNN
-F 1 "GND" H 7300 3680 30  0001 C CNN
-F 2 "" H 7300 3750 60  0000 C CNN
-F 3 "" H 7300 3750 60  0000 C CNN
-	1    7300 3750
-	1    0    0    -1  
-$EndComp
-Connection ~ 7300 3250
-Wire Wire Line
-	7700 3250 7700 3300
 $Comp
 L C C?
 U 1 1 53910D67
 P 7700 3500
 F 0 "C?" H 7700 3600 40  0000 L CNN
-F 1 "10 nF" H 7706 3415 40  0000 L CNN
+F 1 "10 n" H 7706 3415 40  0000 L CNN
 F 2 "~" H 7738 3350 30  0000 C CNN
 F 3 "~" H 7700 3500 60  0000 C CNN
 	1    7700 3500
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
-	7700 3700 7700 3750
-$Comp
-L GND #PWR?
-U 1 1 53910D6E
-P 7700 3750
-F 0 "#PWR?" H 7700 3750 30  0001 C CNN
-F 1 "GND" H 7700 3680 30  0001 C CNN
-F 2 "" H 7700 3750 60  0000 C CNN
-F 3 "" H 7700 3750 60  0000 C CNN
-	1    7700 3750
-	1    0    0    -1  
-$EndComp
 Text HLabel 4050 2250 0    60   Input ~ 0
-+BATT
-Wire Wire Line
-	4050 2250 4700 2250
-Wire Wire Line
-	3300 3050 3300 3100
++Batt
 Text HLabel 3250 3050 0    60   Input ~ 0
-GND
-Connection ~ 3300 3050
-Wire Wire Line
-	3400 3350 3400 3050
-Connection ~ 3400 3050
+Gnd
 Text HLabel 5800 2850 2    60   Input ~ 0
 Motor A Entrada 1
 Text HLabel 5800 2950 2    60   Input ~ 0
@@ -249,8 +264,6 @@ U 1 1 5391385D
 P 6000 2150
 F 0 "P?" V 5950 2150 40  0000 C CNN
 F 1 "Motor 2" V 6050 2150 40  0000 C CNN
-F 2 "" H 6000 2150 60  0001 C CNN
-F 3 "" H 6000 2150 60  0001 C CNN
 	1    6000 2150
 	-1   0    0    -1  
 $EndComp
@@ -260,70 +273,35 @@ U 1 1 53913863
 P 6000 1700
 F 0 "P?" V 5950 1700 40  0000 C CNN
 F 1 "Motor 1" V 6050 1700 40  0000 C CNN
-F 2 "" H 6000 1700 60  0001 C CNN
-F 3 "" H 6000 1700 60  0001 C CNN
 	1    6000 1700
 	-1   0    0    -1  
 $EndComp
-Wire Wire Line
-	6350 1600 7150 1600
-Wire Wire Line
-	6350 1800 7150 1800
-Wire Wire Line
-	6350 2050 7150 2050
-Wire Wire Line
-	6350 2250 7150 2250
-Text Label 3550 3450 0    60   ~ 0
-Motor B salida 1
-Wire Wire Line
-	3550 3450 4350 3450
-Text Label 3550 3250 0    60   ~ 0
-Motor B salida 2
-Text Label 3550 3150 0    60   ~ 0
-Motor A salida 2
-Text Label 3550 2950 0    60   ~ 0
-Motor A salida 1
-Text Label 7150 1600 2    60   ~ 0
-Motor A salida 1
-Text Label 7150 1800 2    60   ~ 0
-Motor A salida 2
-Text Label 7150 2250 2    60   ~ 0
-Motor B salida 2
-Text Label 7150 2050 2    60   ~ 0
-Motor B salida 1
-Wire Wire Line
-	4100 2250 4100 2300
+Text Label 3500 3450 0    60   ~ 0
+MOTOR B SALIDA 1
+Text Label 3500 3250 0    60   ~ 0
+MOTOR B SALIDA 2
+Text Label 3500 3150 0    60   ~ 0
+MOTOR A SALIDA 2
+Text Label 3500 2950 0    60   ~ 0
+MOTOR A SALIDA 1
+Text Label 7200 1600 2    60   ~ 0
+MOTOR A SALIDA 1
+Text Label 7200 1800 2    60   ~ 0
+MOTOR A SALIDA 2
+Text Label 7200 2250 2    60   ~ 0
+MOTOR B SALIDA 2
+Text Label 7200 2050 2    60   ~ 0
+MOTOR B SALIDA 1
 Text Label 4700 2250 2    60   ~ 0
-Alimentacion
-Connection ~ 4100 2250
+ALIMENTACIÓN
 Text Label 6250 3200 0    60   ~ 0
-Alimentacion
-Wire Wire Line
-	5750 3250 7700 3250
-Wire Wire Line
-	6850 3200 6850 3250
-Connection ~ 6850 3250
-Wire Wire Line
-	6850 3200 6250 3200
-$Comp
-L GND #PWR?
-U 1 1 5392D7DF
-P 8650 2050
-F 0 "#PWR?" H 8650 2050 30  0001 C CNN
-F 1 "GND" H 8650 1980 30  0001 C CNN
-F 2 "" H 8650 2050 60  0001 C CNN
-F 3 "" H 8650 2050 60  0001 C CNN
-	1    8650 2050
-	1    0    0    -1  
-$EndComp
+ALIMENTACIÓN
 $Comp
 L CONN_3 K?
 U 1 1 5392D7E5
 P 8250 1900
 F 0 "K?" V 8200 1900 50  0000 C CNN
 F 1 "Servo" V 8300 1900 40  0000 C CNN
-F 2 "" H 8250 1900 60  0001 C CNN
-F 3 "" H 8250 1900 60  0001 C CNN
 	1    8250 1900
 	-1   0    0    1   
 $EndComp
@@ -332,40 +310,12 @@ L CAPAPOL C?
 U 1 1 5392D7F2
 P 9100 1900
 F 0 "C?" H 9150 2000 50  0000 L CNN
-F 1 "100uF" H 9150 1800 50  0000 L CNN
-F 2 "" H 9100 1900 60  0001 C CNN
-F 3 "" H 9100 1900 60  0001 C CNN
+F 1 "100 u" H 9150 1800 50  0000 L CNN
 	1    9100 1900
 	1    0    0    -1  
 $EndComp
-Connection ~ 8650 2000
-Wire Wire Line
-	8850 2000 8850 2100
-Wire Wire Line
-	8850 2100 9100 2100
-Connection ~ 8650 1800
-Wire Wire Line
-	8800 1800 8800 1700
-Wire Wire Line
-	8800 1700 9100 1700
-Wire Wire Line
-	8600 1900 8850 1900
-Wire Wire Line
-	8650 2000 8650 2050
-Wire Wire Line
-	8600 2000 8850 2000
-Wire Wire Line
-	8650 1650 8650 1800
-Wire Wire Line
-	8600 1800 8800 1800
-Text HLabel 8650 1650 0    60   Input ~ 12
-Alimentacion Servo
-Text HLabel 8950 1550 0    60   Input ~ 12
+Text HLabel 8650 1650 0    60   Input ~ 0
+Alimentación Servo
+Text HLabel 8950 1550 0    60   Input ~ 0
 Control Servo
-Text Label 8850 1900 2    60   ~ 0
-servo
-Wire Wire Line
-	8950 1550 9200 1550
-Text Label 9200 1550 2    60   ~ 0
-servo
 $EndSCHEMATC
diff --git a/Placas/Placa_Tito_2013/Placa_principal/Sensores.sch b/Placas/Placa_Tito_2013/Placa_principal/Sensores.sch
index 63a25ee..15b2095 100644
--- a/Placas/Placa_Tito_2013/Placa_principal/Sensores.sch
+++ b/Placas/Placa_Tito_2013/Placa_principal/Sensores.sch
@@ -1,4 +1,4 @@
-EESchema Schematic File Version 2
+EESchema Schematic File Version 2  date jue 12 jun 2014 20:15:01 ART
 LIBS:power
 LIBS:device
 LIBS:transistors
@@ -32,17 +32,16 @@ LIBS:valves
 LIBS:L298
 LIBS:7805b
 LIBS:reg_204-5
-LIBS:cny70
 LIBS:tcrt1000
 LIBS:drv8833
 LIBS:placa_principal-cache
-EELAYER 27 0
+EELAYER 25  0
 EELAYER END
-$Descr A4 11693 8268
+$Descr A4 11700 8267
 encoding utf-8
 Sheet 3 4
 Title ""
-Date "5 jun 2014"
+Date "12 jun 2014"
 Rev ""
 Comp ""
 Comment1 ""
@@ -50,14 +49,244 @@ Comment2 ""
 Comment3 ""
 Comment4 ""
 $EndDescr
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+Wire Wire Line
+	4000 4150 3800 4150
+Wire Wire Line
+	4000 3300 3800 3300
+Connection ~ 4100 3150
+Wire Wire Line
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+Wire Wire Line
+	5650 4150 5450 4150
+Wire Wire Line
+	5650 3300 5450 3300
+Connection ~ 5450 2450
+Wire Wire Line
+	6200 2400 6200 4150
+Wire Wire Line
+	4700 2800 4700 2900
+Wire Wire Line
+	4900 3750 4700 3750
+Wire Wire Line
+	4700 3750 4700 3650
+Wire Wire Line
+	3250 4650 3050 4650
+Wire Wire Line
+	4900 4650 4700 4650
+Wire Wire Line
+	6200 3900 6300 3900
+Wire Wire Line
+	6800 3900 6850 3900
+Connection ~ 7350 3900
+Connection ~ 7350 3600
+Wire Wire Line
+	7350 3750 7350 3900
+Wire Wire Line
+	7100 3450 7350 3450
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
+	6200 3600 6300 3600
+Connection ~ 6200 2700
+Wire Wire Line
+	6300 2700 6200 2700
+Connection ~ 6200 3300
+Wire Wire Line
+	6200 3300 6300 3300
+Wire Wire Line
+	6800 3300 6850 3300
+Wire Wire Line
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+Connection ~ 7350 3300
+Connection ~ 7350 3000
+Connection ~ 7350 2700
+Connection ~ 7350 2400
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
+	6200 2400 6300 2400
+Wire Wire Line
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+Connection ~ 6200 3000
+Wire Wire Line
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+Wire Wire Line
+	7350 2700 7800 2700
+Wire Wire Line
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+Wire Wire Line
+	7350 3300 7800 3300
+Wire Wire Line
+	7350 3600 7800 3600
+Wire Wire Line
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+Connection ~ 6200 3900
+Wire Wire Line
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+	5300 3650 5450 3650
+Wire Wire Line
+	5000 3650 5000 3750
+Wire Wire Line
+	2750 4500 2600 4500
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+	3650 4500 3800 4500
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+Wire Wire Line
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+Wire Wire Line
+	2450 3150 2600 3150
+Wire Wire Line
+	2450 4000 2600 4000
+Connection ~ 2450 3150
+Wire Wire Line
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+Wire Wire Line
+	4100 3150 4250 3150
+Wire Wire Line
+	4250 4000 4100 4000
+Wire Wire Line
+	4200 2000 4200 2300
+Connection ~ 4200 2300
+Wire Wire Line
+	2400 2450 2450 2450
+Connection ~ 2450 2450
+Wire Wire Line
+	2450 2250 2600 2250
+Connection ~ 2600 2250
+Wire Wire Line
+	3800 4600 3350 4600
+Wire Wire Line
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+Wire Wire Line
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+Wire Wire Line
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+	3350 4600 3350 4500
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+Wire Wire Line
+	3800 2450 4000 2450
+Wire Wire Line
+	3800 4500 3800 4150
+Wire Wire Line
+	3800 3650 3800 3300
+Text Label 4000 4150 2    60   ~ 0
++5V
+Text Label 4000 2450 2    60   ~ 0
++5V
+Text Label 4000 3300 2    60   ~ 0
++5V
+Text Label 5650 4150 2    60   ~ 0
++5V
+Text Label 5650 3300 2    60   ~ 0
++5V
+Text Label 5650 2450 2    60   ~ 0
++5V
+Text Label 6400 4150 2    60   ~ 0
+GND
+Text Label 3250 2900 2    60   ~ 0
+GND
+Text Label 4900 2900 2    60   ~ 0
+GND
+Text Label 4900 3750 2    60   ~ 0
+GND
+Text Label 3250 3750 2    60   ~ 0
+GND
+Text Label 3250 4650 2    60   ~ 0
+GND
+Text Label 4900 4650 2    60   ~ 0
+GND
 $Comp
 L POT RV?
 U 1 1 53917AA3
 P 7100 3000
 F 0 "RV?" H 7100 2900 50  0000 C CNN
-F 1 "POT" H 7100 3000 50  0000 C CNN
-F 2 "" H 7100 3000 60  0001 C CNN
-F 3 "" H 7100 3000 60  0001 C CNN
+F 1 "POT 20 k" H 7100 3000 50  0000 C CNN
 	1    7100 3000
 	1    0    0    -1  
 $EndComp
@@ -66,9 +295,7 @@ L POT RV?
 U 1 1 53917AA9
 P 7100 2400
 F 0 "RV?" H 7100 2300 50  0000 C CNN
-F 1 "POT" H 7100 2400 50  0000 C CNN
-F 2 "" H 7100 2400 60  0001 C CNN
-F 3 "" H 7100 2400 60  0001 C CNN
+F 1 "POT 20 k" H 7100 2400 50  0000 C CNN
 	1    7100 2400
 	1    0    0    -1  
 $EndComp
@@ -77,9 +304,7 @@ L POT RV?
 U 1 1 53917AAF
 P 7100 3300
 F 0 "RV?" H 7100 3200 50  0000 C CNN
-F 1 "POT" H 7100 3300 50  0000 C CNN
-F 2 "" H 7100 3300 60  0001 C CNN
-F 3 "" H 7100 3300 60  0001 C CNN
+F 1 "POT 20 k" H 7100 3300 50  0000 C CNN
 	1    7100 3300
 	1    0    0    -1  
 $EndComp
@@ -88,9 +313,7 @@ L POT RV?
 U 1 1 53917AB5
 P 7100 2700
 F 0 "RV?" H 7100 2600 50  0000 C CNN
-F 1 "POT" H 7100 2700 50  0000 C CNN
-F 2 "" H 7100 2700 60  0001 C CNN
-F 3 "" H 7100 2700 60  0001 C CNN
+F 1 "POT 20 k" H 7100 2700 50  0000 C CNN
 	1    7100 2700
 	1    0    0    -1  
 $EndComp
@@ -102,8 +325,6 @@ U 1 1 53917ABC
 P 6550 3300
 F 0 "R?" V 6630 3300 50  0000 C CNN
 F 1 "100" V 6550 3300 50  0000 C CNN
-F 2 "" H 6550 3300 60  0001 C CNN
-F 3 "" H 6550 3300 60  0001 C CNN
 	1    6550 3300
 	0    1    1    0   
 $EndComp
@@ -115,8 +336,6 @@ U 1 1 53917AC3
 P 6550 3000
 F 0 "R?" V 6630 3000 50  0000 C CNN
 F 1 "100" V 6550 3000 50  0000 C CNN
-F 2 "" H 6550 3000 60  0001 C CNN
-F 3 "" H 6550 3000 60  0001 C CNN
 	1    6550 3000
 	0    1    1    0   
 $EndComp
@@ -126,8 +345,6 @@ U 1 1 53917AC9
 P 6550 2700
 F 0 "R?" V 6630 2700 50  0000 C CNN
 F 1 "100" V 6550 2700 50  0000 C CNN
-F 2 "" H 6550 2700 60  0001 C CNN
-F 3 "" H 6550 2700 60  0001 C CNN
 	1    6550 2700
 	0    1    1    0   
 $EndComp
@@ -137,8 +354,6 @@ U 1 1 53917ACF
 P 6550 2400
 F 0 "R?" V 6630 2400 50  0000 C CNN
 F 1 "100" V 6550 2400 50  0000 C CNN
-F 2 "" H 6550 2400 60  0001 C CNN
-F 3 "" H 6550 2400 60  0001 C CNN
 	1    6550 2400
 	0    1    1    0   
 $EndComp
@@ -149,9 +364,7 @@ L POT RV?
 U 1 1 53917AD6
 P 7100 3600
 F 0 "RV?" H 7100 3500 50  0000 C CNN
-F 1 "POT" H 7100 3600 50  0000 C CNN
-F 2 "" H 7100 3600 60  0001 C CNN
-F 3 "" H 7100 3600 60  0001 C CNN
+F 1 "POT 20 k" H 7100 3600 50  0000 C CNN
 	1    7100 3600
 	1    0    0    -1  
 $EndComp
@@ -160,9 +373,7 @@ L POT RV?
 U 1 1 53917ADC
 P 7100 3900
 F 0 "RV?" H 7100 3800 50  0000 C CNN
-F 1 "POT" H 7100 3900 50  0000 C CNN
-F 2 "" H 7100 3900 60  0001 C CNN
-F 3 "" H 7100 3900 60  0001 C CNN
+F 1 "POT 20 k" H 7100 3900 50  0000 C CNN
 	1    7100 3900
 	1    0    0    -1  
 $EndComp
@@ -174,30 +385,15 @@ U 1 1 53917AE3
 P 6550 3900
 F 0 "R?" V 6630 3900 50  0000 C CNN
 F 1 "100" V 6550 3900 50  0000 C CNN
-F 2 "" H 6550 3900 60  0001 C CNN
-F 3 "" H 6550 3900 60  0001 C CNN
 	1    6550 3900
 	0    1    1    0   
 $EndComp
 $Comp
-L GND #PWR?
-U 1 1 53917AE9
-P 6200 4050
-F 0 "#PWR?" H 6200 4050 30  0001 C CNN
-F 1 "GND" H 6200 3980 30  0001 C CNN
-F 2 "" H 6200 4050 60  0001 C CNN
-F 3 "" H 6200 4050 60  0001 C CNN
-	1    6200 4050
-	1    0    0    -1  
-$EndComp
-$Comp
 L R R?
 U 1 1 53917AEF
 P 6550 3600
 F 0 "R?" V 6630 3600 50  0000 C CNN
 F 1 "100" V 6550 3600 50  0000 C CNN
-F 2 "" H 6550 3600 60  0001 C CNN
-F 3 "" H 6550 3600 60  0001 C CNN
 	1    6550 3600
 	0    1    1    0   
 $EndComp
@@ -207,458 +403,134 @@ Text Label 7800 2400 2    60   ~ 0
 SENSOR 1
 Text Label 7800 2700 2    60   ~ 0
 SENSOR 2
-Wire Wire Line
-	6200 3900 6300 3900
-Wire Wire Line
-	6800 3900 6850 3900
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-Connection ~ 7350 3600
-Wire Wire Line
-	7350 3750 7350 3900
-Wire Wire Line
-	7350 3450 7100 3450
-Wire Wire Line
-	7350 3600 7350 3450
-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
-	7350 2550 7350 2700
-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
-	7350 3000 7800 3000
-Wire Wire Line
-	7350 3300 7800 3300
-Wire Wire Line
-	7350 3600 7800 3600
-Wire Wire Line
-	7350 3900 7800 3900
-Connection ~ 6200 3600
-Connection ~ 6200 3900
 $Comp
 L TCRT1000 U?
 U 1 1 539180FB
-P 3350 2400
-F 0 "U?" H 3350 2400 60  0000 C CNN
-F 1 "TCRT1000" H 3600 2600 60  0000 C CNN
-F 2 "TCRT1000" H 3100 2600 60  0000 C CNN
-F 3 "" H 3350 2400 60  0000 C CNN
-	1    3350 2400
+P 3200 2400
+F 0 "U?" H 3200 2400 60  0000 C CNN
+F 1 "TCRT1000" H 3450 2600 60  0000 C CNN
+F 2 "TCRT1000" H 2950 2600 60  0000 C CNN
+	1    3200 2400
 	1    0    0    -1  
 $EndComp
 $Comp
 L R R?
 U 1 1 53918101
-P 2750 2550
-F 0 "R?" V 2830 2550 50  0000 C CNN
-F 1 "R sensor" V 2750 2550 50  0000 C CNN
-F 2 "" H 2750 2550 60  0001 C CNN
-F 3 "" H 2750 2550 60  0001 C CNN
-	1    2750 2550
+P 2600 2550
+F 0 "R?" V 2680 2550 50  0000 C CNN
+F 1 "180" V 2600 2550 50  0000 C CNN
+	1    2600 2550
 	-1   0    0    1   
 $EndComp
-$Comp
-L GND #PWR?
-U 1 1 53918107
-P 3200 2850
-F 0 "#PWR?" H 3200 2850 30  0001 C CNN
-F 1 "GND" H 3200 2780 30  0001 C CNN
-F 2 "" H 3200 2850 60  0000 C CNN
-F 3 "" H 3200 2850 60  0000 C CNN
-	1    3200 2850
-	1    0    0    -1  
-$EndComp
-Text Label 3950 2900 2    60   ~ 0
+Text Label 3800 2900 2    60   ~ 0
 SENSOR 1
 $Comp
-L +5V #PWR?
-U 1 1 5391810E
-P 3950 2250
-F 0 "#PWR?" H 3950 2340 20  0001 C CNN
-F 1 "+5V" H 3950 2340 30  0000 C CNN
-F 2 "" H 3950 2250 60  0000 C CNN
-F 3 "" H 3950 2250 60  0000 C CNN
-	1    3950 2250
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 L TCRT1000 U?
 U 1 1 53918114
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-F 2 "TCRT1000" H 3100 3450 60  0000 C CNN
-F 3 "" H 3350 3250 60  0000 C CNN
-	1    3350 3250
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 	1    0    0    -1  
 $EndComp
 $Comp
 L R R?
 U 1 1 5391811A
-P 2750 3400
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+	1    2600 3400
 	-1   0    0    1   
 $EndComp
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-F 2 "" H 3200 3700 60  0000 C CNN
-F 3 "" H 3200 3700 60  0000 C CNN
-	1    3200 3700
-	1    0    0    -1  
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 SENSOR 3
 $Comp
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-	1    3950 3100
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-$EndComp
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 L TCRT1000 U?
 U 1 1 5391812D
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-F 3 "" H 4750 2400 60  0000 C CNN
-	1    4750 2400
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 	1    0    0    -1  
 $EndComp
 $Comp
 L R R?
 U 1 1 53918133
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-	1    4150 2550
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 	-1   0    0    1   
 $EndComp
-$Comp
-L GND #PWR?
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-F 0 "#PWR?" H 4600 2850 30  0001 C CNN
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-F 3 "" H 4600 2850 60  0000 C CNN
-	1    4600 2850
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-$EndComp
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 SENSOR 2
 $Comp
-L +5V #PWR?
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-F 2 "" H 5350 2250 60  0000 C CNN
-F 3 "" H 5350 2250 60  0000 C CNN
-	1    5350 2250
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-$EndComp
-$Comp
 L TCRT1000 U?
 U 1 1 53918146
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-F 2 "TCRT1000" H 4500 3450 60  0000 C CNN
-F 3 "" H 4750 3250 60  0000 C CNN
-	1    4750 3250
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 	1    0    0    -1  
 $EndComp
 $Comp
 L R R?
 U 1 1 5391814C
-P 4150 3400
-F 0 "R?" V 4230 3400 50  0000 C CNN
-F 1 "R sensor" V 4150 3400 50  0000 C CNN
-F 2 "" H 4150 3400 60  0001 C CNN
-F 3 "" H 4150 3400 60  0001 C CNN
-	1    4150 3400
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+F 1 "180" V 4250 3400 50  0000 C CNN
+	1    4250 3400
 	-1   0    0    1   
 $EndComp
-$Comp
-L GND #PWR?
-U 1 1 53918152
-P 4600 3700
-F 0 "#PWR?" H 4600 3700 30  0001 C CNN
-F 1 "GND" H 4600 3630 30  0001 C CNN
-F 2 "" H 4600 3700 60  0000 C CNN
-F 3 "" H 4600 3700 60  0000 C CNN
-	1    4600 3700
-	1    0    0    -1  
-$EndComp
-Text Label 5350 3750 2    60   ~ 0
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 SENSOR 4
 $Comp
-L +5V #PWR?
-U 1 1 53918159
-P 5350 3100
-F 0 "#PWR?" H 5350 3190 20  0001 C CNN
-F 1 "+5V" H 5350 3190 30  0000 C CNN
-F 2 "" H 5350 3100 60  0000 C CNN
-F 3 "" H 5350 3100 60  0000 C CNN
-	1    5350 3100
-	1    0    0    -1  
-$EndComp
-$Comp
 L TCRT1000 SERVO_U?
 U 1 1 5391815F
-P 3350 4100
-F 0 "SERVO_U?" H 3350 4100 60  0000 C CNN
-F 1 "TCRT1000" H 3600 4300 60  0000 C CNN
-F 2 "TCRT1000" H 3100 4300 60  0000 C CNN
-F 3 "" H 3350 4100 60  0000 C CNN
-	1    3350 4100
+P 3200 4100
+F 0 "SERVO_U?" H 3200 4100 60  0000 C CNN
+F 1 "TCRT1000" H 3450 4300 60  0000 C CNN
+F 2 "TCRT1000" H 2950 4300 60  0000 C CNN
+	1    3200 4100
 	1    0    0    -1  
 $EndComp
 $Comp
 L R R?
 U 1 1 53918165
-P 2750 4250
-F 0 "R?" V 2830 4250 50  0000 C CNN
-F 1 "R sensor" V 2750 4250 50  0000 C CNN
-F 2 "" H 2750 4250 60  0001 C CNN
-F 3 "" H 2750 4250 60  0001 C CNN
-	1    2750 4250
+P 2600 4250
+F 0 "R?" V 2680 4250 50  0000 C CNN
+F 1 "180" V 2600 4250 50  0000 C CNN
+	1    2600 4250
 	-1   0    0    1   
 $EndComp
-$Comp
-L GND #PWR?
-U 1 1 5391816B
-P 3200 4550
-F 0 "#PWR?" H 3200 4550 30  0001 C CNN
-F 1 "GND" H 3200 4480 30  0001 C CNN
-F 2 "" H 3200 4550 60  0000 C CNN
-F 3 "" H 3200 4550 60  0000 C CNN
-	1    3200 4550
-	1    0    0    -1  
-$EndComp
-Text Label 3950 4600 2    60   ~ 0
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 SENSOR 5
 $Comp
-L +5V #PWR?
-U 1 1 53918172
-P 3950 3950
-F 0 "#PWR?" H 3950 4040 20  0001 C CNN
-F 1 "+5V" H 3950 4040 30  0000 C CNN
-F 2 "" H 3950 3950 60  0000 C CNN
-F 3 "" H 3950 3950 60  0000 C CNN
-	1    3950 3950
-	1    0    0    -1  
-$EndComp
-$Comp
 L TCRT1000 SERVO_U?
 U 1 1 53918178
-P 4750 4100
-F 0 "SERVO_U?" H 4750 4100 60  0000 C CNN
-F 1 "TCRT1000" H 5000 4300 60  0000 C CNN
-F 2 "TCRT1000" H 4500 4300 60  0000 C CNN
-F 3 "" H 4750 4100 60  0000 C CNN
-	1    4750 4100
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+	1    4850 4100
 	1    0    0    -1  
 $EndComp
 $Comp
 L R R?
 U 1 1 5391817E
-P 4150 4250
-F 0 "R?" V 4230 4250 50  0000 C CNN
-F 1 "R sensor" V 4150 4250 50  0000 C CNN
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-F 3 "" H 4150 4250 60  0001 C CNN
-	1    4150 4250
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 	-1   0    0    1   
 $EndComp
-$Comp
-L GND #PWR?
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-F 0 "#PWR?" H 4600 4550 30  0001 C CNN
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-F 3 "" H 4600 4550 60  0000 C CNN
-	1    4600 4550
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-$EndComp
-Text Label 5350 4600 2    60   ~ 0
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 SENSOR 6
-$Comp
-L +5V #PWR?
-U 1 1 5391818B
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-F 0 "#PWR?" H 5350 4040 20  0001 C CNN
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-	1    0    0    -1  
-$EndComp
-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
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-Wire Wire Line
-	4600 3650 4600 3700
-Wire Wire Line
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-Wire Wire Line
-	2600 2250 2600 4000
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-	2600 3150 2750 3150
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-	2600 4000 2750 4000
-Connection ~ 2600 3150
-Wire Wire Line
-	4000 2300 4150 2300
-Wire Wire Line
-	4000 2300 4000 4000
-Wire Wire Line
-	4000 3150 4150 3150
-Wire Wire Line
-	4000 4000 4150 4000
-Connection ~ 4000 3150
-Wire Wire Line
-	4100 2300 4100 2000
-Wire Wire Line
-	4100 2000 2750 2000
-Connection ~ 4100 2300
-Text HLabel 2550 2450 0    60   Input ~ 0
+Text HLabel 2400 2450 0    60   Input ~ 0
 Habilitador sensores
-Wire Wire Line
-	2550 2450 2600 2450
-Connection ~ 2600 2450
-Wire Wire Line
-	2600 2250 2750 2250
-Connection ~ 2750 2250
-Wire Wire Line
-	3500 4600 3950 4600
-Wire Wire Line
-	4900 4600 5350 4600
-Wire Wire Line
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-Wire Wire Line
-	3500 3750 3950 3750
-Wire Wire Line
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-Wire Wire Line
-	3500 4600 3500 4500
 Text HLabel 7800 2400 2    60   Input ~ 0
 Sensor 1
 Text HLabel 7800 2700 2    60   Input ~ 0
@@ -672,13 +544,7 @@ Sensor 5
 Text HLabel 7800 3900 2    60   Input ~ 0
 Sensor 6
 Text HLabel 6150 4000 0    60   Input ~ 0
-GND
-Wire Wire Line
-	6150 4000 6200 4000
-Connection ~ 6200 4000
-Text HLabel 5400 2300 2    60   Input ~ 0
+Gnd
+Text HLabel 5500 2250 2    60   Input ~ 0
 +5V
-Wire Wire Line
-	5400 2300 5350 2300
-Connection ~ 5350 2300
 $EndSCHEMATC
diff --git a/Placas/Placa_Tito_2013/Placa_principal/placa_principal.pro b/Placas/Placa_Tito_2013/Placa_principal/placa_principal.pro
index c9ac27f..7bacb48 100644
--- a/Placas/Placa_Tito_2013/Placa_principal/placa_principal.pro
+++ b/Placas/Placa_Tito_2013/Placa_principal/placa_principal.pro
@@ -1,4 +1,4 @@
-update=vie 30 may 2014 18:41:56 ART
+update=jue 12 jun 2014 20:15:48 ART
 last_client=kicad
 [cvpcb]
 version=1
@@ -47,9 +47,8 @@ LibName30=valves
 LibName31=../../Bibliotecas/L298
 LibName32=../../Bibliotecas/7805b
 LibName33=../../Bibliotecas/reg_204-5
-LibName34=../../Bibliotecas/cny70
-LibName35=../../Bibliotecas/tcrt1000
-LibName36=../../Bibliotecas/drv8833
+LibName34=../../Bibliotecas/tcrt1000
+LibName35=../../Bibliotecas/drv8833
 [pcbnew]
 version=1
 LastNetListRead=placa_principal.net
@@ -85,9 +84,8 @@ LibName11=../../Bibliotecas/1pin2mm
 LibName12=../../Bibliotecas/elpin
 LibName13=../../Bibliotecas/L298
 LibName14=../../Bibliotecas/SOT223-5
-LibName15=../../Bibliotecas/cny70
-LibName16=../../Bibliotecas/1PIN
-LibName17=../../Bibliotecas/tcrt1000
-LibName18=../../Bibliotecas/HTSSOP16
+LibName15=../../Bibliotecas/1PIN
+LibName16=../../Bibliotecas/tcrt1000
+LibName17=../../Bibliotecas/HTSSOP16
 [general]
 version=1
diff --git a/Placas/Placa_Tito_2013/Placa_principal/placa_principal.sch b/Placas/Placa_Tito_2013/Placa_principal/placa_principal.sch
index 77e8a33..39db8f7 100644
--- a/Placas/Placa_Tito_2013/Placa_principal/placa_principal.sch
+++ b/Placas/Placa_Tito_2013/Placa_principal/placa_principal.sch
@@ -1,4 +1,4 @@
-EESchema Schematic File Version 2
+EESchema Schematic File Version 2  date jue 12 jun 2014 20:15:01 ART
 LIBS:power
 LIBS:device
 LIBS:transistors
@@ -32,17 +32,16 @@ LIBS:valves
 LIBS:L298
 LIBS:7805b
 LIBS:reg_204-5
-LIBS:cny70
 LIBS:tcrt1000
 LIBS:drv8833
 LIBS:placa_principal-cache
-EELAYER 27 0
+EELAYER 25  0
 EELAYER END
-$Descr A4 11693 8268
+$Descr A4 11700 8267
 encoding utf-8
 Sheet 1 4
 Title "Tito, el autito más bonito"
-Date "5 jun 2014"
+Date "12 jun 2014"
 Rev "0.3"
 Comp ""
 Comment1 ""
@@ -50,14 +49,303 @@ Comment2 ""
 Comment3 ""
 Comment4 ""
 $EndDescr
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+$Sheet
+S 6500 1350 1250 1350
+U 53910AD9
+F0 "Control Motores" 50
+F1 "Control_motores.sch" 50
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 $Comp
 L GND #PWR48
 U 1 1 4DF8B78D
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 F 1 "GND" H 7800 6830 30  0001 C CNN
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-F 3 "" H 7800 6900 60  0001 C CNN
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@@ -69,8 +357,6 @@ U 1 1 4DF8B753
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-F 2 "" H 7700 6700 60  0001 C CNN
-F 3 "" H 7700 6700 60  0001 C CNN
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 F 1 "+5V" H 1600 4790 30  0000 C CNN
-F 2 "" H 1600 4700 60  0001 C CNN
-F 3 "" H 1600 4700 60  0001 C CNN
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 $EndComp
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-F 2 "" H 3100 1550 60  0001 C CNN
-F 3 "" H 3100 1550 60  0001 C CNN
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 F 1 "+5V" H 3100 1340 30  0000 C CNN
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-F 3 "" H 3100 1250 60  0001 C CNN
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 $EndComp
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 F 1 "Programador" V 2650 1500 40  0000 C CNN
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-F 3 "" H 2650 1450 60  0001 C CNN
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 $EndComp
@@ -142,8 +420,6 @@ U 1 1 4DA49DEE
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 F 1 "GND" H 1600 7030 30  0001 C CNN
-F 2 "" H 1600 7100 60  0001 C CNN
-F 3 "" H 1600 7100 60  0001 C CNN
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 $EndComp
@@ -153,8 +429,6 @@ U 1 1 50A6D373
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 F 1 "GND" H 10000 6880 30  0001 C CNN
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-F 3 "" H 10000 6950 60  0001 C CNN
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 F 1 "SW_PUSH_SMALL" H 9900 6271 30  0000 C CNN
-F 2 "" H 9900 6350 60  0001 C CNN
-F 3 "" H 9900 6350 60  0001 C CNN
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 F 1 "10 K" V 9350 6300 50  0000 C CNN
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-F 3 "" H 9350 6300 60  0001 C CNN
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 	1    0    0    -1  
 $EndComp
@@ -188,8 +458,6 @@ U 1 1 50A6D5B8
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-F 2 "" H 9350 6050 60  0001 C CNN
-F 3 "" H 9350 6050 60  0001 C CNN
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 $EndComp
@@ -199,8 +467,6 @@ U 1 1 50A6D90D
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 F 0 "C3" H 9700 6750 50  0000 L CNN
 F 1 "100n" H 9700 6550 50  0000 L CNN
-F 2 "" H 9650 6650 60  0001 C CNN
-F 3 "" H 9650 6650 60  0001 C CNN
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 	1    0    0    -1  
 $EndComp
@@ -210,8 +476,6 @@ U 1 1 50A70BBD
 P 5000 2300
 F 0 "D9" H 5000 2400 50  0000 C CNN
 F 1 "LED" H 5000 2200 50  0000 C CNN
-F 2 "" H 5000 2300 60  0001 C CNN
-F 3 "" H 5000 2300 60  0001 C CNN
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 $EndComp
@@ -221,8 +485,6 @@ U 1 1 50A70BCA
 P 4700 2300
 F 0 "D10" H 4700 2400 50  0000 C CNN
 F 1 "LED" H 4700 2200 50  0000 C CNN
-F 2 "" H 4700 2300 60  0001 C CNN
-F 3 "" H 4700 2300 60  0001 C CNN
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 	0    1    1    0   
 $EndComp
@@ -232,8 +494,6 @@ U 1 1 50A70BD0
 P 4400 2300
 F 0 "D11" H 4400 2400 50  0000 C CNN
 F 1 "LED" H 4400 2200 50  0000 C CNN
-F 2 "" H 4400 2300 60  0001 C CNN
-F 3 "" H 4400 2300 60  0001 C CNN
 	1    4400 2300
 	0    1    1    0   
 $EndComp
@@ -243,8 +503,6 @@ U 1 1 50A70BD6
 P 4100 2300
 F 0 "D12" H 4100 2400 50  0000 C CNN
 F 1 "LED" H 4100 2200 50  0000 C CNN
-F 2 "" H 4100 2300 60  0001 C CNN
-F 3 "" H 4100 2300 60  0001 C CNN
 	1    4100 2300
 	0    1    1    0   
 $EndComp
@@ -253,9 +511,7 @@ L R R15
 U 1 1 50A70BDE
 P 5000 2800
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-F 1 "R led" V 5000 2800 50  0000 C CNN
-F 2 "" H 5000 2800 60  0001 C CNN
-F 3 "" H 5000 2800 60  0001 C CNN
+F 1 "220" V 5000 2800 50  0000 C CNN
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 	-1   0    0    1   
 $EndComp
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-F 1 "R led" V 4700 2800 50  0000 C CNN
-F 2 "" H 4700 2800 60  0001 C CNN
-F 3 "" H 4700 2800 60  0001 C CNN
+F 1 "220" V 4700 2800 50  0000 C CNN
 	1    4700 2800
 	-1   0    0    1   
 $EndComp
@@ -275,9 +529,7 @@ L R R17
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-F 1 "R led" V 4400 2800 50  0000 C CNN
-F 2 "" H 4400 2800 60  0001 C CNN
-F 3 "" H 4400 2800 60  0001 C CNN
+F 1 "220" V 4400 2800 50  0000 C CNN
 	1    4400 2800
 	-1   0    0    1   
 $EndComp
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-F 1 "R led" V 4100 2800 50  0000 C CNN
-F 2 "" H 4100 2800 60  0001 C CNN
-F 3 "" H 4100 2800 60  0001 C CNN
+F 1 "220" V 4100 2800 50  0000 C CNN
 	1    4100 2800
 	-1   0    0    1   
 $EndComp
@@ -306,8 +556,6 @@ U 1 1 50CBEDCA
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 F 1 "Puerto Serie" V 2300 2550 50  0000 C CNN
-F 2 "" H 2250 2550 60  0001 C CNN
-F 3 "" H 2250 2550 60  0001 C CNN
 	1    2250 2550
 	-1   0    0    1   
 $EndComp
@@ -317,8 +565,6 @@ U 1 1 50CBEEC1
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 F 0 "#PWR27" H 2650 2440 20  0001 C CNN
 F 1 "+5V" H 2650 2440 30  0000 C CNN
-F 2 "" H 2650 2350 60  0001 C CNN
-F 3 "" H 2650 2350 60  0001 C CNN
 	1    2650 2350
 	1    0    0    -1  
 $EndComp
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 F 0 "R3" V 7680 6250 50  0000 C CNN
 F 1 "PULL UP" V 7600 6250 50  0000 C CNN
-F 2 "" H 7600 6250 60  0001 C CNN
-F 3 "" H 7600 6250 60  0001 C CNN
 	1    7600 6250
 	1    0    0    -1  
 $EndComp
@@ -357,8 +601,6 @@ U 1 1 50CC0626
 P 7600 5950
 F 0 "#PWR47" H 7600 6040 20  0001 C CNN
 F 1 "+5V" H 7600 6040 30  0000 C CNN
-F 2 "" H 7600 5950 60  0001 C CNN
-F 3 "" H 7600 5950 60  0001 C CNN
 	1    7600 5950
 	1    0    0    -1  
 $EndComp
@@ -388,8 +630,6 @@ U 1 1 50D4ECDC
 P 2650 2750
 F 0 "#PWR28" H 2650 2750 30  0001 C CNN
 F 1 "GND" H 2650 2680 30  0001 C CNN
-F 2 "" H 2650 2750 60  0001 C CNN
-F 3 "" H 2650 2750 60  0001 C CNN
 	1    2650 2750
 	1    0    0    -1  
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@@ -399,8 +639,6 @@ U 1 1 5127FC45
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 F 0 "C8" H 1600 5750 50  0000 L CNN
 F 1 "100nF" H 1600 5550 50  0000 L CNN
-F 2 "" H 1550 5650 60  0001 C CNN
-F 3 "" H 1550 5650 60  0001 C CNN
 	1    1550 5650
 	1    0    0    -1  
 $EndComp
@@ -410,8 +648,6 @@ U 1 1 5127FDB3
 P 1550 5900
 F 0 "#PWR1" H 1550 5900 30  0001 C CNN
 F 1 "GND" H 1550 5830 30  0001 C CNN
-F 2 "" H 1550 5900 60  0001 C CNN
-F 3 "" H 1550 5900 60  0001 C CNN
 	1    1550 5900
 	1    0    0    -1  
 $EndComp
@@ -421,8 +657,6 @@ U 1 1 51280AFC
 P 11000 7000
 F 0 "#PWR60" H 11000 7000 30  0001 C CNN
 F 1 "GND" H 11000 6930 30  0001 C CNN
-F 2 "" H 11000 7000 60  0001 C CNN
-F 3 "" H 11000 7000 60  0001 C CNN
 	1    11000 7000
 	1    0    0    -1  
 $EndComp
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 P 10900 6800
 F 0 "SW3" H 11050 6910 30  0000 C CNN
 F 1 "BOTON DE INTERRUPCION" H 10900 6721 30  0000 C CNN
-F 2 "" H 10900 6800 60  0001 C CNN
-F 3 "" H 10900 6800 60  0001 C CNN
 	1    10900 6800
 	1    0    0    -1  
 $EndComp
@@ -443,8 +675,6 @@ U 1 1 51280B09
 P 10800 6350
 F 0 "R19" V 10880 6350 50  0000 C CNN
 F 1 "PULL UP" V 10800 6350 50  0000 C CNN
-F 2 "" H 10800 6350 60  0001 C CNN
-F 3 "" H 10800 6350 60  0001 C CNN
 	1    10800 6350
 	1    0    0    -1  
 $EndComp
@@ -454,8 +684,6 @@ U 1 1 51280B0F
 P 10800 6050
 F 0 "#PWR59" H 10800 6140 20  0001 C CNN
 F 1 "+5V" H 10800 6140 30  0000 C CNN
-F 2 "" H 10800 6050 60  0001 C CNN
-F 3 "" H 10800 6050 60  0001 C CNN
 	1    10800 6050
 	1    0    0    -1  
 $EndComp
@@ -467,8 +695,6 @@ U 1 1 513A7A03
 P 10500 6650
 F 0 "P9" H 10580 6650 40  0000 L CNN
 F 1 "CONN_1" H 10500 6705 30  0001 C CNN
-F 2 "" H 10500 6650 60  0001 C CNN
-F 3 "" H 10500 6650 60  0001 C CNN
 	1    10500 6650
 	-1   0    0    1   
 $EndComp
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 P 4400 4850
 F 0 "JP1" H 4400 5000 60  0000 C CNN
-F 1 "JUMPER" H 4400 4770 40  0000 C CNN
-F 2 "" H 4400 4850 60  0001 C CNN
-F 3 "" H 4400 4850 60  0001 C CNN
+F 1 "PUENTE" H 4400 4770 40  0000 C CNN
 	1    4400 4850
 	1    0    0    -1  
 $EndComp
@@ -491,8 +715,6 @@ U 1 1 516893DD
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 F 0 "JP3" H 7250 6700 60  0000 C CNN
 F 1 "JUMPER" H 7250 6470 40  0000 C CNN
-F 2 "" H 7250 6550 60  0001 C CNN
-F 3 "" H 7250 6550 60  0001 C CNN
 	1    7250 6550
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 $EndComp
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-F 2 "" H 4550 1950 60  0000 C CNN
-F 3 "" H 4550 1950 60  0000 C CNN
 	1    4550 1950
 	1    0    0    -1  
 $EndComp
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 $Comp
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-F 2 "" H 7100 4950 60  0000 C CNN
-F 3 "" H 7100 4950 60  0000 C CNN
 	1    7100 4950
 	1    0    0    -1  
 $EndComp
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 F 0 "Q1" H 7000 5101 40  0000 R CNN
 F 1 "BC548" H 7000 5400 40  0000 R CNN
 F 2 "TO92" H 6900 5352 29  0000 C CNN
-F 3 "" H 7000 5250 60  0000 C CNN
 	1    7000 5250
 	1    0    0    -1  
 $EndComp
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 $Comp
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-F 2 "" H 9050 3750 60  0000 C CNN
-F 3 "" H 9050 3750 60  0000 C CNN
+F 1 "18,432 M" H 9050 3600 60  0000 C CNN
 	1    9050 3750
 	1    0    0    -1  
 $EndComp
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-F 1 "15 Pf" H 8706 3915 40  0000 L CNN
-F 2 "" H 8738 3850 30  0000 C CNN
-F 3 "" H 8700 4000 60  0000 C CNN
+F 1 "15 p" H 8706 3915 40  0000 L CNN
 	1    8700 4000
 	1    0    0    -1  
 $EndComp
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 U 1 1 52FEBA5D
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-F 1 "15 Pf" H 9406 3915 40  0000 L CNN
-F 2 "" H 9438 3850 30  0000 C CNN
-F 3 "" H 9400 4000 60  0000 C CNN
+F 1 "15 p" H 9406 3915 40  0000 L CNN
 	1    9400 4000
 	1    0    0    -1  
 $EndComp
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 F 0 "#PWR53" H 9050 4250 30  0001 C CNN
 F 1 "GND" H 9050 4180 30  0001 C CNN
-F 2 "" H 9050 4250 60  0000 C CNN
-F 3 "" H 9050 4250 60  0000 C CNN
 	1    9050 4250
 	1    0    0    -1  
 $EndComp
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-F 1 "+5V" H 9850 3690 30  0000 C CNN
-F 2 "" H 9850 3600 60  0000 C CNN
-F 3 "" H 9850 3600 60  0000 C CNN
-	1    9850 3600
-	1    0    0    -1  
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-F 0 "#PWR62" H 10500 3560 30  0001 C CNN
-F 1 "+3,3V" H 10500 3710 30  0000 C CNN
-F 2 "" H 10500 3600 60  0000 C CNN
-F 3 "" H 10500 3600 60  0000 C CNN
-	1    10500 3600
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-F 1 "R" V 10157 3651 40  0000 C CNN
-F 2 "~" V 10080 3650 30  0000 C CNN
-F 3 "~" H 10150 3650 30  0000 C CNN
-	1    10150 3650
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-F 1 "R" V 10457 3951 40  0000 C CNN
-F 2 "~" V 10380 3950 30  0000 C CNN
-F 3 "~" H 10450 3950 30  0000 C CNN
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-F 1 "GND" H 10450 4180 30  0001 C CNN
-F 2 "" H 10450 4250 60  0000 C CNN
-F 3 "" H 10450 4250 60  0000 C CNN
-	1    10450 4250
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 F 0 "IC1" H 1800 7100 40  0000 L BNN
 F 1 "ATMEGA88A-A" H 2950 4450 40  0000 L BNN
 F 2 "TQFP32" H 2550 5850 30  0000 C CIN
-F 3 "" H 2550 5850 60  0000 C CNN
 	1    2550 5850
 	1    0    0    -1  
 $EndComp
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-	10800 6600 10800 6650
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-	1650 5350 1550 5350
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-Wire Wire Line
-	9900 3650 9850 3650
-Wire Wire Line
-	9850 3650 9850 3600
-Wire Wire Line
-	10500 3600 10450 3600
-Connection ~ 10450 3650
-Wire Wire Line
-	10450 4200 10450 4250
-Wire Wire Line
-	1650 4850 1600 4850
-Connection ~ 1600 4850
 $Comp
 L +BATT #PWR?
 U 1 1 5390D35E
 P 8350 1700
 F 0 "#PWR?" H 8350 1650 20  0001 C CNN
 F 1 "+BATT" H 8350 1800 30  0000 C CNN
-F 2 "" H 8350 1700 60  0000 C CNN
-F 3 "" H 8350 1700 60  0000 C CNN
 	1    8350 1700
 	1    0    0    -1  
 $EndComp
@@ -934,8 +863,6 @@ U 1 1 5390D39A
 P 8350 2200
 F 0 "#PWR?" H 8350 2290 20  0001 C CNN
 F 1 "+5V" H 8350 2290 30  0000 C CNN
-F 2 "" H 8350 2200 60  0000 C CNN
-F 3 "" H 8350 2200 60  0000 C CNN
 	1    8350 2200
 	1    0    0    -1  
 $EndComp
@@ -945,35 +872,15 @@ U 1 1 5390D3B8
 P 8350 2500
 F 0 "#PWR?" H 8350 2460 30  0001 C CNN
 F 1 "+3.3V" H 8350 2610 30  0000 C CNN
-F 2 "" H 8350 2500 60  0000 C CNN
-F 3 "" H 8350 2500 60  0000 C CNN
 	1    8350 2500
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
-	8450 2550 8350 2550
-Wire Wire Line
-	8350 2550 8350 2500
-Wire Wire Line
-	8450 2250 8350 2250
-Wire Wire Line
-	8350 2250 8350 2200
-Wire Wire Line
-	8450 2000 8350 2000
-Wire Wire Line
-	8350 2000 8350 1950
-Wire Wire Line
-	8450 1750 8350 1750
-Wire Wire Line
-	8350 1750 8350 1700
 $Comp
 L GND #PWR?
 U 1 1 5390DC7C
 P 9800 2400
 F 0 "#PWR?" H 9800 2400 30  0001 C CNN
 F 1 "GND" H 9800 2330 30  0001 C CNN
-F 2 "" H 9800 2400 60  0000 C CNN
-F 3 "" H 9800 2400 60  0000 C CNN
 	1    9800 2400
 	1    0    0    -1  
 $EndComp
@@ -983,8 +890,6 @@ U 1 1 53910297
 P 8350 1950
 F 0 "#PWR?" H 8350 2050 30  0001 C CNN
 F 1 "VDD" H 8350 2060 30  0000 C CNN
-F 2 "" H 8350 1950 60  0000 C CNN
-F 3 "" H 8350 1950 60  0000 C CNN
 	1    8350 1950
 	1    0    0    -1  
 $EndComp
@@ -996,30 +901,12 @@ Text Label 6200 2150 0    60   ~ 0
 IN_2B
 Text Label 6200 2000 0    60   ~ 0
 IN_1B
-Wire Wire Line
-	6200 1800 6500 1800
-Wire Wire Line
-	6500 2000 6200 2000
-Wire Wire Line
-	6500 2150 6200 2150
-Wire Wire Line
-	6500 1650 6200 1650
-Wire Wire Line
-	6500 1450 6400 1450
-Wire Wire Line
-	6400 1450 6400 1400
-Wire Wire Line
-	7750 2550 7850 2550
-Wire Wire Line
-	7850 2550 7850 2600
 $Comp
 L GND #PWR?
 U 1 1 53916466
 P 7850 2600
 F 0 "#PWR?" H 7850 2600 30  0001 C CNN
 F 1 "GND" H 7850 2530 30  0001 C CNN
-F 2 "" H 7850 2600 60  0000 C CNN
-F 3 "" H 7850 2600 60  0000 C CNN
 	1    7850 2600
 	1    0    0    -1  
 $EndComp
@@ -1029,26 +916,10 @@ U 1 1 5391651A
 P 6400 1400
 F 0 "#PWR?" H 6400 1350 20  0001 C CNN
 F 1 "+BATT" H 6400 1500 30  0000 C CNN
-F 2 "" H 6400 1400 60  0000 C CNN
-F 3 "" H 6400 1400 60  0000 C CNN
 	1    6400 1400
 	1    0    0    -1  
 $EndComp
 $Sheet
-S 6500 1350 1250 1350
-U 53910AD9
-F0 "Control Motores" 50
-F1 "Control_motores.sch" 50
-F2 "+BATT" I L 6500 1450 60 
-F3 "GND" I R 7750 2550 60 
-F4 "Motor A Entrada 1" I L 6500 1650 60 
-F5 "Motor A Entrada 2" I L 6500 1800 60 
-F6 "Motor B Entrada 2" I L 6500 2150 60 
-F7 "Motor B Entrada 1" I L 6500 2000 60 
-F8 "Alimentacion Servo" I L 6500 2400 60 
-F9 "Control Servo" I L 6500 2550 60 
-$EndSheet
-$Sheet
 S 6500 3150 1250 1350
 U 5391786C
 F0 "Sensores" 50
@@ -1060,21 +931,15 @@ F5 "Sensor 3" I L 6500 3950 60
 F6 "Sensor 4" I L 6500 4100 60 
 F7 "Sensor 5" I L 6500 4250 60 
 F8 "Sensor 6" I L 6500 4400 60 
-F9 "GND" I R 7750 4250 60 
+F9 "Gnd" I R 7750 4250 60 
 F10 "+5V" I L 6500 3300 60 
 $EndSheet
-Wire Wire Line
-	7750 4250 7850 4250
-Wire Wire Line
-	7850 4250 7850 4300
 $Comp
 L GND #PWR?
 U 1 1 53919AC2
 P 7850 4300
 F 0 "#PWR?" H 7850 4300 30  0001 C CNN
 F 1 "GND" H 7850 4230 30  0001 C CNN
-F 2 "" H 7850 4300 60  0000 C CNN
-F 3 "" H 7850 4300 60  0000 C CNN
 	1    7850 4300
 	1    0    0    -1  
 $EndComp
@@ -1084,29 +949,11 @@ U 1 1 53919C75
 P 6400 3250
 F 0 "#PWR?" H 6400 3340 20  0001 C CNN
 F 1 "+5V" H 6400 3340 30  0000 C CNN
-F 2 "" H 6400 3250 60  0000 C CNN
-F 3 "" H 6400 3250 60  0000 C CNN
 	1    6400 3250
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
-	6400 3250 6400 3300
-Wire Wire Line
-	6400 3300 6500 3300
 Text Label 6000 4100 0    60   ~ 0
 SENSOR 4
-Wire Wire Line
-	6000 4100 6500 4100
-Wire Wire Line
-	6500 3950 6000 3950
-Wire Wire Line
-	6000 3800 6500 3800
-Wire Wire Line
-	6500 3650 6000 3650
-Wire Wire Line
-	6500 4250 6000 4250
-Wire Wire Line
-	6500 4400 6000 4400
 Text Label 6000 4250 0    60   ~ 0
 SENSOR 5
 Text Label 6000 4400 0    60   ~ 0
@@ -1117,10 +964,8 @@ Text Label 6000 3800 0    60   ~ 0
 SENSOR 2
 Text Label 6000 3650 0    60   ~ 0
 SENSOR 1
-Text Label 5550 3450 0    60   ~ 0
-Habilitador Sensores
-Wire Wire Line
-	5550 3450 6500 3450
+Text Label 5400 3450 0    60   ~ 0
+HABILITADOR SENSORES
 Text Notes 6600 3050 0    157  ~ 31
 Sensores
 Text Notes 6650 1250 0    157  ~ 31
@@ -1132,101 +977,41 @@ S 8450 1550 1200 1100
 U 5390D5B6
 F0 "Alimentacion" 50
 F1 "Alimentacion.sch" 50
-F3 "GND" I R 9650 2350 60 
-F4 "+BATT" I L 8450 1750 60 
-F5 "+5V" I L 8450 2250 60 
-F6 "+3,3V" I L 8450 2550 60 
-F7 "VDD" I L 8450 2000 60 
+F2 "Gnd" I R 9650 2350 60 
+F3 "+Batt" I L 8450 1750 60 
+F4 "+5V" I L 8450 2250 60 
+F5 "+3,3V" I L 8450 2550 60 
+F6 "Vdd" I L 8450 2000 60 
 $EndSheet
-Wire Wire Line
-	9650 2350 9800 2350
-Wire Wire Line
-	9800 2350 9800 2400
-Wire Wire Line
-	1650 6850 1600 6850
-Wire Wire Line
-	1600 6850 1600 6900
-Wire Wire Line
-	1600 6900 1600 6950
-Wire Wire Line
-	1600 6950 1600 7050
-Wire Wire Line
-	1600 7050 1600 7100
-Wire Wire Line
-	1600 6950 1650 6950
-Connection ~ 1600 7050
-Connection ~ 1600 6950
-Wire Wire Line
-	1650 7050 1600 7050
-Wire Wire Line
-	1450 6900 1550 6900
-Wire Wire Line
-	1550 6900 1600 6900
-Connection ~ 1600 6900
-Connection ~ 1550 6900
-Wire Wire Line
-	5000 3050 5000 3300
-Connection ~ 7600 6550
-Wire Wire Line
-	8700 3500 8950 3500
-Wire Wire Line
-	9400 3500 9150 3500
-Connection ~ 10800 6650
-Wire Wire Line
-	6500 2400 6400 2400
-Wire Wire Line
-	6400 2400 6400 2350
 $Comp
 L +5V #PWR?
 U 1 1 5392E344
 P 6400 2350
 F 0 "#PWR?" H 6400 2440 20  0001 C CNN
 F 1 "+5V" H 6400 2440 30  0000 C CNN
-F 2 "" H 6400 2350 60  0000 C CNN
-F 3 "" H 6400 2350 60  0000 C CNN
 	1    6400 2350
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
-	6200 2550 6500 2550
 Text Label 6200 2550 0    60   ~ 0
 SERVO
 Text Label 3800 4850 2    60   ~ 0
 SERVO
-Wire Wire Line
-	4000 5050 4000 4850
-Wire Wire Line
-	4000 4850 4100 4850
-Wire Wire Line
-	3550 5150 4100 5150
 $Comp
 L JUMPER JP?
 U 1 1 5393353A
 P 4400 5150
 F 0 "JP?" H 4400 5300 60  0000 C CNN
-F 1 "JUMPER" H 4400 5070 40  0000 C CNN
-F 2 "" H 4400 5150 60  0001 C CNN
-F 3 "" H 4400 5150 60  0001 C CNN
+F 1 "PUENTE" H 4400 5070 40  0000 C CNN
 	1    4400 5150
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
-	4700 5150 4950 5150
 $Comp
 L JUMPER JP?
 U 1 1 5393394D
 P 4400 5450
 F 0 "JP?" H 4400 5600 60  0000 C CNN
-F 1 "JUMPER" H 4400 5370 40  0000 C CNN
-F 2 "" H 4400 5450 60  0001 C CNN
-F 3 "" H 4400 5450 60  0001 C CNN
+F 1 "PUENTE" H 4400 5370 40  0000 C CNN
 	1    4400 5450
 	1    0    0    -1  
 $EndComp
-Wire Wire Line
-	4000 5250 4000 5450
-Wire Wire Line
-	4000 5450 4100 5450
-Wire Wire Line
-	4700 5450 4950 5450
 $EndSCHEMATC