diff --git a/py/src/drive.py b/py/src/drive.py
index a4529b8..dd3f031 100644
--- a/py/src/drive.py
+++ b/py/src/drive.py
@@ -22,7 +22,12 @@ def forward(self, speed):
     def backward(self, speed):
         self.driveBase.drive(speed, 0 )
 
-    def turn(self, speed, angle):
-        self.driveBase.drive(speed, angle)
+    def left(self, speed, angle):
+        self.driveBase.drive(speed, 90)
     
+    def right(self, speed, angle):
+        self.driveBase.drive(speed, -90)
+
+    def stop(self, speed):
+        self.driveBase.drive(0,0)
     
\ No newline at end of file
diff --git a/py/src/robot.py b/py/src/robot.py
index 0d132c3..6984787 100644
--- a/py/src/robot.py
+++ b/py/src/robot.py
@@ -16,19 +16,13 @@ def __init__(self, drive: Drive, sensors: Sensors):
         self.drive = drive
         self.sensors = sensors
 
-    def start(self):
+    def start(self, duration_ms = 5000):
         self.drive.forward(50)
-        while True:
+        timer = StopWatch()
+        while timer.time() < duration_ms:
             wait(50)
-        this.stop()
+            
+        self.stop()
 
     def stop(self):
         self.drive.forward(0)
-
-    def turn_left(self):
-        self.drive.turn(50, 90)
-        
-
-    def turn_right(self):
-        self.drive.turn(50, -90)
-