diff --git a/oving_2/main.py b/oving_2/main.py
index 57a77b2..44ec493 100644
--- a/oving_2/main.py
+++ b/oving_2/main.py
@@ -20,21 +20,41 @@
 ev3.speaker.beep()
 
 
+
+leftMotor = Motor(port=Port.A)
+rightMotor = Motor(port=Port.C)
+robotDriveBase = DriveBase(leftMotor, rightMotor, wheel_diameter=56, axle_track=110)
+
 startBtn = TouchSensor(port=Port.S1)
 usSensor = UltrasonicSensor(port=Port.S3)
 
 isPressed = False
 
+next_turn = 0
+
 while True:
-    
     if(startBtn.pressed() and isPressed == False):
-        print("Knapp funker\n",
-              "Starter program.")
+        ev3.speaker.say("Excercise 2")
+        wait(500)
         isPressed = True
+        next_turn = 1
     
     elif(isPressed == True):
-        print(usSensor.distance())
-
+        if startBtn.pressed():
+            isPressed = False
+            break
+            
+        elif(usSensor.distance() >= 75):
+            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")
+            
 
 
 print("The end..")
\ No newline at end of file