diff --git a/workspace/AUTOM10/Core/Src/eeprom.c b/workspace/AUTOM10/Core/Src/eeprom.c
index 9d325e9..2fb23ba 100644
--- a/workspace/AUTOM10/Core/Src/eeprom.c
+++ b/workspace/AUTOM10/Core/Src/eeprom.c
@@ -472,6 +472,13 @@ void loadEE(void){
 	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
 	sprintf((char*)s,"\nm1pwmMan=%d m2pwmMan=%d m3pwmMan=%d m4pwmMan=%d",m1pwmMan,m2pwmMan,m3pwmMan,m4pwmMan);
 	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
-
+	sprintf((char*)s,"\napM1start=%d apM1stop=%d chM1start=%d chM1stop=%d",apM1start,apM1stop,chM1start,chM1stop);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	sprintf((char*)s,"\napM2start=%d apM2stop=%d chM2start=%d chM2stop=%d",apM2start,apM2stop,chM2start,chM2stop);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	sprintf((char*)s,"\napM3start=%d apM3stop=%d chM3start=%d chM3stop=%d",apM3start,apM3stop,chM3start,chM3stop);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	sprintf((char*)s,"\napM4start=%d apM4stop=%d chM4start=%d chM4stop=%d",apM4start,apM4stop,chM4start,chM4stop);
+	HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
 
 }
diff --git a/workspace/AUTOM10/Core/Src/main.c b/workspace/AUTOM10/Core/Src/main.c
index 844f484..c08e790 100644
--- a/workspace/AUTOM10/Core/Src/main.c
+++ b/workspace/AUTOM10/Core/Src/main.c
@@ -245,7 +245,7 @@ void managePulsanti(void){
 }
 
 void manageCiclo(void){
-
+	motMov_st m1,m2,m3,m4;
 	switch(stCiclo){
 		case omchiuso:
 			if(stPulsanti&P1START){
@@ -352,7 +352,8 @@ void manageCiclo(void){
 		case omapertura0:
 			if(rtCiclo>=30){//doppo 3 secondi
 				stBuz=bzmoving;
-				if((m1ap()==motStop)&&(m2ap()==motStop)&&(m3ap()==motStop)&&(m4ap()==motStop)){
+				m1=m1ap();m2=m2ap();m3=m3ap();m4=m4ap();
+				if((m1==motStop)&&(m2==motStop)&&(m3==motStop)&&(m4==motStop)){
 					stBuz=bzoff;
 					stCiclo=omaperto;
 				}
diff --git a/workspace/AUTOM10/Core/Src/mot.c b/workspace/AUTOM10/Core/Src/mot.c
index a097cde..8d875b6 100644
--- a/workspace/AUTOM10/Core/Src/mot.c
+++ b/workspace/AUTOM10/Core/Src/mot.c
@@ -4,6 +4,8 @@
  *  Created on: May 2, 2026
  *      Author: user
  */
+#include <stdio.h>
+#include <string.h>
 #include "main.h"
 #include "mot.h"
 #include "pwm.h"
@@ -36,8 +38,17 @@ extern uint16_t m4pwmch;
 extern uint16_t mrampstart[4];
 extern uint16_t tramp;
 
+extern UART_HandleTypeDef huart1;
+
 motMov_st m1ap(void){
-	static motMov_st m1st;
+	static motMov_st m1st=motWaiting;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=m1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ap=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
 	if(rtCiclo<apM1start)m1st=motWaiting;
 	switch(m1st){
 		case motWaiting:
@@ -75,6 +86,13 @@ motMov_st m1ap(void){
 
 motMov_st m2ap(void){
 	static motMov_st m2st;
+	static motMov_st memm2st=motStop;
+	char s[100];
+	if(memm2st!=m2st){
+		memm2st=m2st;
+		sprintf(s,"\nm2ap=%d",m2st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
 	if(rtCiclo<apM2start)m2st=motWaiting;
 	switch(m2st){
 		case motWaiting:
@@ -112,6 +130,13 @@ motMov_st m2ap(void){
 
 motMov_st m3ap(void){
 	static motMov_st m3st;
+	static motMov_st memm3st=motStop;
+	char s[100];
+	if(memm3st!=m3st){
+		memm3st=m3st;
+		sprintf(s,"\nm3ap=%d",m3st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
 	if(rtCiclo<apM3start)m3st=motWaiting;
 	switch(m3st){
 		case motWaiting:
@@ -149,6 +174,13 @@ motMov_st m3ap(void){
 
 motMov_st m4ap(void){
 	static motMov_st m4st;
+	static motMov_st memm4st=motStop;
+	char s[100];
+	if(memm4st!=m4st){
+		memm4st=m4st;
+		sprintf(s,"\nm4ap=%d",m4st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
 	if(rtCiclo<apM4start)m4st=motWaiting;
 	switch(m4st){
 		case motWaiting:
@@ -171,7 +203,7 @@ motMov_st m4ap(void){
 			}
 			break;
 		case motStopRamp:
-			if(ramp(43,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
+			if(ramp(M4,BW,m4pwmap,0,tramp,RAMPRUN)==DONE){
 				m4st=motStop;
 			}
 			break;
@@ -186,6 +218,13 @@ motMov_st m4ap(void){
 
 motMov_st m1ch(void){
 	static motMov_st m1st;
+	static motMov_st memm1st=motStop;
+	char s[100];
+	if(memm1st!=m1st){
+		memm1st=m1st;
+		sprintf(s,"\nm1ch=%d",m1st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
 	if(rtCiclo<chM1start)m1st=motWaiting;
 	switch(m1st){
 		case motWaiting:
@@ -223,6 +262,14 @@ motMov_st m1ch(void){
 
 motMov_st m2ch(void){
 	static motMov_st m2st;
+	static motMov_st memm2st=motStop;
+	char s[100];
+	if(memm2st!=m2st){
+		memm2st=m2st;
+		sprintf(s,"\nm2ch=%d",m2st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
 	if(rtCiclo<chM2start)m2st=motWaiting;
 	switch(m2st){
 		case motWaiting:
@@ -260,6 +307,14 @@ motMov_st m2ch(void){
 
 motMov_st m3ch(void){
 	static motMov_st m3st;
+	static motMov_st memm3st=motStop;
+	char s[100];
+	if(memm3st!=m3st){
+		memm3st=m3st;
+		sprintf(s,"\nm3ch=%d",m3st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
 	if(rtCiclo<chM3start)m3st=motWaiting;
 	switch(m3st){
 		case motWaiting:
@@ -297,6 +352,14 @@ motMov_st m3ch(void){
 
 motMov_st m4ch(void){
 	static motMov_st m4st;
+	static motMov_st memm4st=motStop;
+	char s[100];
+	if(memm4st!=m4st){
+		memm4st=m4st;
+		sprintf(s,"\nm4ch=%d",m4st);
+		HAL_UART_Transmit(&huart1,(uint8_t*) s, strlen(s), HAL_MAX_DELAY);
+	}
+
 	if(rtCiclo<chM4start)m4st=motWaiting;
 	switch(m4st){
 		case motWaiting: