diff --git a/folkrace.py b/folkrace.py
index 3122be4..ffdcd3a 100644
--- a/folkrace.py
+++ b/folkrace.py
@@ -27,18 +27,42 @@ def backward():
     m3.throttle = -1
     m4.throttle = -1
 
+def stleft():
+    m1.throttle = -1
+    m2.throttle = 1
+    m3.throttle = 1
+    m4.throttle = -1
+    
+def stright():
+    m1.throttle = 1
+    m2.throttle = -1
+    m3.throttle = -1
+    m4.throttle = 1
+
+def dgright():
+    m1.throttle = 1
+    m2.throttle = 0
+    m3.throttle = 0
+    m4.throttle = 1
+
+def dgleft():
+    m1.throttle = 0
+    m2.throttle = 1
+    m3.throttle = 1
+    m4.throttle = 0
+
 while True:
     print("F=", f"{front.distance:.2f}", "R=", f"{right.distance:.2f}", "L=", f"{left.distance:.2f}")
     try:
         if front.distance >= 20: # What to do when there is an obstacle ahead
             if left.distance > right.distance: # Diagonally left
-                
+                dgleft()
             if right.distance > left.distance: # Diagonally right
-                
+                dgright()
         if left.distance < 30: # Strafe right
-
+            stright()
         if right.distance < 30: # Strafe left
-            
+            stleft()
         else:
             forward()