diff --git a/roomba/roomba.ino b/roomba/roomba.ino
index 95c2b6e..68703b3 100644
--- a/roomba/roomba.ino
+++ b/roomba/roomba.ino
@@ -1,9 +1,27 @@
-void setup() {
-  // put your setup code here, to run once:
+#include "MeMCore.h"
 
+MeDCMotor motor1(9);
+
+MeDCMotor motor2(10);
+
+MeUltrasonicSensor ultraSensor(PORT_3);
+
+int minDistance = 15;
+
+void setup() {
+  Serial.begin(9600);
 }
 
 void loop() {
-  // put your main code here, to run repeatedly:
+
+  if (ultraSensor.distanceCm()<minDistance){
+    motor1.run(100);
+    motor2.run(100);
+    delay(800);
+  }
+  else {
+    motor1.run(-155);
+    motor2.run(155);
+  }
 
 }