diff --git a/oving_2/main.py b/oving_2/main.py
index 06c5ccf..8b2a59a 100644
--- a/oving_2/main.py
+++ b/oving_2/main.py
@@ -7,9 +7,6 @@
 from pybricks.robotics import DriveBase
 from pybricks.media.ev3dev import SoundFile, ImageFile
 
-import threading
-import sys
-
 
 # This program requires LEGO EV3 MicroPython v2.0 or higher.
 # Click "Open user guide" on the EV3 extension tab for more information.
@@ -26,48 +23,38 @@
 
 leftMotor = Motor(port=Port.A)
 rightMotor = Motor(port=Port.C)
-robotDriveBase = DriveBase(leftMotor, rightMotor, wheel_diameter=56, axle_track=110)
+robotDriveBase = DriveBase(leftMotor, rightMotor, wheel_diameter=56, axle_track=160)
 
 startBtn = TouchSensor(port=Port.S1)
 usSensor = UltrasonicSensor(port=Port.S3)
 
 isPressed = False
 
-def startStrop():
-    global isPressed
-    while True:
-        if(startBtn.pressed()):
-            if isPressed == False:
-                ev3.speaker.say("Excercise 2")
-                wait(500)
-                isPressed = True
-                next_turn = 1
-            else:
-                isPressed = False
-                robotDriveBase.stop()
-                ev3.speaker.say("Excercise done")
-
-                break
+next_turn = 0
+
+while True:
+    if(startBtn.pressed() and isPressed == False):
+        ev3.speaker.say("Excercise 2")
+        wait(500)
+        isPressed = True
+        next_turn = 1
     
-    print("The end..")
-    sys.exit()
+    elif(isPressed == True):
+        if startBtn.pressed():
+            isPressed = False
+            break
+            
+        elif(usSensor.distance() >= 150):
+            robotDriveBase.drive(-250, 0)
+        else:
+            robotDriveBase.turn(90 * next_turn)
+            robotDriveBase.straight(-150)
+            robotDriveBase.turn(90 * next_turn)
+            next_turn *= -1
+
+robotDriveBase.stop()
+ev3.speaker.say("Excercise done")
             
 
-def runRobot() :
-    next_turn = 0
-
-    while True:
-        if(isPressed == True): 
-            if(usSensor.distance() >= 75):
-                robotDriveBase.drive(-250, 0)
-            else:
-                robotDriveBase.turn(90 * next_turn)
-                robotDriveBase.straight(-150)
-                robotDriveBase.turn(90 * next_turn)
-                next_turn *= -1
-
-t1 = threading.Thread(target=startStrop)
-t2 = threading.Thread(target=runRobot)
 
-t1.start()
-t2.start()
\ No newline at end of file
+print("The end..")
\ No newline at end of file