Everything is working!!! no problems transmitting nor receiving, it works just perfectly! thank you really much 
But sadly I have another question, I don't know if I should post it on another topic but I will ask here before. The code work fine, it doesn't seem to have problems but as it is running every 5-6 ultra fast cicles it does one really slow. Since my robot is a car it's a big problem the fact that I can have long delays between orders and execution of them. Can you suggest me something or dou you have any advice about how to keep the running stable?