diff --git a/.gitignore b/.gitignore
new file mode 100755
index 0000000..1229cdc
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+.pio
+.vscode/*
+compile_commands.json
+.cache/*
diff --git a/README.md b/README.md
old mode 100644
new mode 100755
diff --git a/include/README b/include/README
new file mode 100755
index 0000000..194dcd4
--- /dev/null
+++ b/include/README
@@ -0,0 +1,39 @@
+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the usual convention is to give header files names that end with `.h'.
+It is most portable to use only letters, digits, dashes, and underscores in
+header file names, and at most one dot.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
diff --git a/include/mm.hpp b/include/mm.hpp
new file mode 100755
index 0000000..aa9757a
--- /dev/null
+++ b/include/mm.hpp
@@ -0,0 +1,14 @@
+/*+------------------------------+*/
+/*|     Declaracion de pines     |*/
+/*+------------------------------+*/
+#define C1 4     /* pins de encoders del motor 1*/
+#define C2 19
+
+#define B1 5     /* pins de encoders del motor 2*/
+#define B2 18
+
+#define M1BW 33  /* Motor 1 delante*/
+#define M1FW 32  /* Motor 1 atras  */
+
+#define M2BW 26  /* Motor 1 delante*/
+#define M2FW 25  /* Motor 1 atras  */
\ No newline at end of file
diff --git a/lib/README b/lib/README
new file mode 100755
index 0000000..2593a33
--- /dev/null
+++ b/lib/README
@@ -0,0 +1,46 @@
+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into executable file.
+
+The source code of each library should be placed in an own separate directory
+("lib/your_library_name/[here are source files]").
+
+For example, see a structure of the following two libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional, custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+and a contents of `src/main.c`:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+PlatformIO Library Dependency Finder will find automatically dependent
+libraries scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html
diff --git a/platformio.ini b/platformio.ini
new file mode 100755
index 0000000..457ca3e
--- /dev/null
+++ b/platformio.ini
@@ -0,0 +1,15 @@
+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:esp32dev]
+platform = espressif32
+board = esp32dev
+framework = arduino
+monitor_speed = 115200
diff --git a/src/main.cpp b/src/main.cpp
new file mode 100755
index 0000000..dac855a
--- /dev/null
+++ b/src/main.cpp
@@ -0,0 +1,61 @@
+#include <Arduino.h>
+#include "esp32-hal-gpio.h"
+#include "mm.hpp" /* Archivos header ubicados en include/ */
+
+void m1handler();
+void m2handler();
+
+int m1_rpm = 0;
+int m2_rpm = 0;
+volatile int m1_pulse_cnt = 0;
+volatile int m2_pulse_cnt = 0;
+
+void m1handler() {
+    if (digitalRead(C2))
+        m1_pulse_cnt++;
+    else m1_pulse_cnt--;
+}
+void m2handler() {
+    if (digitalRead(B2))
+        m2_pulse_cnt++;
+    else m2_pulse_cnt--;
+}
+
+void setup() {
+    Serial.begin(115200);
+    pinMode(C1, INPUT);
+    pinMode(C2, INPUT);
+    pinMode(B1, INPUT);
+    pinMode(B2, INPUT);
+    pinMode(2, OUTPUT);
+    pinMode(M1FW, OUTPUT);
+    pinMode(M1BW, OUTPUT);
+    pinMode(M2FW, OUTPUT);
+    pinMode(M2BW, OUTPUT);
+    attachInterrupt(C1, m1handler, RISING);
+    attachInterrupt(B1, m2handler, RISING);
+}
+
+void loop() {
+    Serial.print("M1: ");
+    Serial.print(m1_pulse_cnt);
+    Serial.print("    ");
+    Serial.print(m2_pulse_cnt);
+    delay(10);
+
+    /* Un giro de la rueda da 7 pulsos
+     * El radio de el reductor es de 1:30 
+     * Un giro de la rueda serían 210 pulsos*/
+    if(m1_pulse_cnt < 200 && m1_pulse_cnt > -210) {
+        analogWrite(M1FW, 90);
+    } else {
+        analogWrite(M1FW, 0);
+    }
+
+    if(m2_pulse_cnt < 200 && m2_pulse_cnt > -210) {
+        analogWrite(M1FW, 90);
+    } else {
+        analogWrite(M1FW, 0);
+    }
+    Serial.println("");    
+}