diff --git a/final_project/final_project.ino b/final_project/final_project.ino
index 2ead01d..0a46366 100644
--- a/final_project/final_project.ino
+++ b/final_project/final_project.ino
@@ -16,7 +16,7 @@
 //defining motors speed and duration 
 #define REVERSE_SPEED 200 
 #define TURN_SPEED 200
-#define FORWARD_SPEED 400
+#define FORWARD_SPEED 100
 #define REVERSE_DURATION 500 
 #define TURN_DURATION 500
 #define FORWARD_DURATION 5000
@@ -24,9 +24,9 @@
 #define STOP_DURATION 100 
 
 //setting up ultrasound sensor pins and max distance 
-#define TRIGGER_PIN  13  
-#define ECHO_PIN     12  
-#define MAX_DISTANCE 200 
+#define TRIGGER_PIN  12 
+#define ECHO_PIN     11  
+#define MAX_DISTANCE 200
 
 NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE);
 
@@ -41,7 +41,8 @@ int lastError = 0;
 
 void setup() {
   // for testing ultrasonic sensor:
-Serial.begin(115200);
+  Serial.begin(115200);
+
 }
 
 /*************************************************/
@@ -49,28 +50,27 @@ Serial.begin(115200);
 void loop() 
 {
   //learning how ultrasonic sensor works
-  delay(50);                      // pause 50ms between pings (about 20 pings/sec)
+  delay(200);                      // pause 50ms between pings (about 20 pings/sec)
   unsigned int uS = sonar.ping(); // this int gets ping time in microseconds (uS) after sending
   Serial.print("Ping: ");
-  Serial.print(uS / US_ROUNDTRIP_CM); // Convert ping time to distance in cm and print result (0 = outside set distance range)
-  Serial.println("cm");
-
-  // learning how motor setspeeds work with delay
-  motors.setSpeeds(FORWARD_SPEED,FORWARD_SPEED);
-  delay(FORWARD_DURATION);
-
-  motors.setSpeeds(TURN_SPEED, -TURN_SPEED);
-  delay(TURN_DURATION);
-
-  motors.setSpeeds(FORWARD_SPEED,FORWARD_SPEED);
-  delay(FORWARD_DURATION);
+  Serial.print(uS); // Convert ping time to distance in cm and print result (0 = outside set distance range)
+  Serial.println("qdssd");
+  if (uS != 0 && uS < 500){
+     Serial.println("hey");
+    motors.setSpeeds(STOP, STOP);
+    // if (random(2)==0)
+    // {
+    //   motors.setSpeeds(-REVERSE_SPEED, REVERSE_SPEED);
+    // }
+    // else
+    // {
+    //   motors.setSpeeds(REVERSE_SPEED, -REVERSE_SPEED);
+    // }
+    //delay(2000);
+  } else {
+     Serial.println("yo");
+    motors.setSpeeds(FORWARD_SPEED, FORWARD_SPEED);
+  }
 
-  motors.setSpeeds(TURN_SPEED, -TURN_SPEED);
-  delay(TURN_DURATION);
-
-  motors.setSpeeds(STOP, STOP);
-  delay(STOP_DURATION);
-
-  motors.setSpeeds(REVERSE_SPEED,REVERSE_SPEED);
-  delay(REVERSE_DURATION);
+  
 }