diff --git a/control/control.ino b/control/control.ino
new file mode 100644
index 0000000..fd0b6c2
--- /dev/null
+++ b/control/control.ino
@@ -0,0 +1,60 @@
+#include "Arduino.h"
+#include "Wire.h"
+#include "MeMCore.h"
+#include "SoftwareSerial.h"
+#include <Wire.h>
+
+MeDCMotor rightMotor(10);
+
+MeDCMotor leftMotor(9);
+
+MeGyro gyro;
+
+boolean x = true;
+float Zzero = 0;
+
+void setup() {
+  Serial.begin(9600);
+  rightMotor.run(0);
+  leftMotor.run(0);
+  
+  gyro.begin();
+
+}
+
+void loop() {
+  
+  gyro.update();
+
+  delay(3000);
+ 
+  
+  int squareCoordonates[4][2]={{0,0},{25,0},{25,25},{0,25}};
+  
+  for (int i=0; i<4; i++){
+
+    x = true;
+
+    while(x==true){
+      leftMotor.run(100);
+      rightMotor.run(-100);
+      delay(2150);
+      x=false;
+    }
+    float targetAngle = 90;
+    float Zzero=gyro.getAngleZ();
+    float changingangle=gyro.getAngleZ();
+    while (abs(Zzero-changingangle)< targetAngle){
+      Serial.print(gyro.getAngleZ());
+      leftMotor.run(100);
+      rightMotor.run(100);
+      gyro.update();
+      changingangle=gyro.getAngleZ();
+      
+    }
+    
+  }
+
+  
+
+}