diff --git a/roomba/roomba.ino b/roomba/roomba.ino
new file mode 100644
index 0000000..10f7109
--- /dev/null
+++ b/roomba/roomba.ino
@@ -0,0 +1,34 @@
+#include "Arduino.h"
+#include "Wire.h"
+#include "MeMCore.h"
+#include "SoftwareSerial.h"
+
+MeDCMotor _leftMotor(9);
+MeDCMotor _rightMotor(10);
+MeUltrasonicSensor ultrasonicSensor(PORT_3);
+
+void setup() {
+  // put your setup code here, to run once:
+  _leftMotor.run(0);
+  _rightMotor.run(0);
+  Serial.begin(9600);
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  if (ultrasonicSensor.distanceCm()>= 20){
+    Serial.println(ultrasonicSensor.distanceCm());
+    _leftMotor.run(-100);
+    _rightMotor.run(100);
+  }else{
+    _leftMotor.stop();
+     _rightMotor.stop();
+    delay(1000);
+    _leftMotor.run(100);
+    _rightMotor.run(100);
+    delay(1000);
+  }
+  
+
+}