diff --git a/gyro/gyro.ino b/gyro/gyro.ino
new file mode 100644
index 0000000..6cf1a07
--- /dev/null
+++ b/gyro/gyro.ino
@@ -0,0 +1,23 @@
+#include"MeMCore.h"
+#include <Wire.h>
+MeGyro gyro;
+
+void setup() {
+  // put your setup code here, to run once:
+Serial.begin(115200);
+  gyro.begin();
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  gyro.update();
+  Serial.read();
+  Serial.print("X:");
+  Serial.print(gyro.getAngleX() );
+  Serial.print(" Y:");
+  Serial.print(gyro.getAngleY() );
+  Serial.print(" Z:");
+  Serial.println(gyro.getAngleZ() );
+  Serial.println(gyro.getGyroY());
+  delay(10);
+}
\ No newline at end of file
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);
+  }
 
 }