diff --git a/roomba/main.ino b/roomba/main.ino
new file mode 100644
index 0000000..ec6263b
--- /dev/null
+++ b/roomba/main.ino
@@ -0,0 +1,52 @@
+#include "Arduino.h"
+#include "Wire.h"
+#include "MeMCore.h"
+
+// Declare 1 variable of type MeUltrasonicSensor at PORT_3
+MeUltrasonicSensor sensor(PORT_3);
+int speed = 100;
+MeDCMotor _leftMotor(9);
+MeDCMotor _rightMotor(10);
+bool goagain = false;
+
+// Define the number of iterations required to turn for 30 degrees
+// This value may need to be adjusted based on the specific motor and robot configuration
+#define TURN_ITERATIONS 50
+
+void setup() {
+  // Initialize the serial port at 9600 baud
+  Serial.begin(9600);
+  // put your setup code here, to run once:
+  _leftMotor.run(0);
+  _rightMotor.run(0);
+}
+
+void loop() {
+  float distance = sensor.distanceCm();
+  // Use parentheses to enclose the condition
+  if (distance <= 15 or goagain == true) {
+    goagain = false;
+    // Add a for loop to turn for 30 degrees
+    for (int i = 0; i < TURN_ITERATIONS; i++) {
+      _leftMotor.run(speed);
+      _rightMotor.run(speed);
+      delay(10);
+    }
+    // Stop the motors after turning
+    _leftMotor.run(0);
+    _rightMotor.run(0);
+    // Check the distance again
+    distance = sensor.distanceCm();
+    if (distance < 90) {
+      goagain = true;
+      }
+    } else {
+    _leftMotor.run(-speed);
+    _rightMotor.run(speed);
+  }
+  // Add a small delay to avoid continuous motor changes
+  delay(10);
+  Serial.print("Distance: ");
+  Serial.print(distance);
+  Serial.println(" cm");
+}