diff --git a/roomba/roomba.ino b/roomba/roomba.ino
new file mode 100644
index 0000000..79919cb
--- /dev/null
+++ b/roomba/roomba.ino
@@ -0,0 +1,31 @@
+//#include "MeOrion.h"
+#include <MeMCore.h>
+
+MeDCMotor motor3(M1);
+MeDCMotor motor4(M2);
+
+uint8_t motorSpeed = 200;
+MeUltrasonicSensor ultraSensor(PORT_3);
+
+void setup()
+{
+  Serial.begin(9600);
+}
+
+void loop()
+{
+  
+  if(ultraSensor.distanceCm()>20) {
+    motor3.run(-motorSpeed);
+    motor4.run(motorSpeed);
+  }else if((ultraSensor.distanceCm()<15)) {
+  motor3.stop();
+  motor4.stop();
+  motor3.run(motorSpeed);
+  motor4.run(-motorSpeed);
+  } else {
+    motor3.run(motorSpeed);
+    motor4.run(motorSpeed);
+  }
+  delay(100);
+}