diff --git a/oving_2/main.py b/oving_2/main.py
index 9e9700f..44ec493 100644
--- a/oving_2/main.py
+++ b/oving_2/main.py
@@ -18,3 +18,43 @@
 
 # Write your program here.
 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):
+        ev3.speaker.say("Excercise 2")
+        wait(500)
+        isPressed = True
+        next_turn = 1
+    
+    elif(isPressed == True):
+        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..")
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