diff --git a/main.c b/main.c
index 73b6520..b33f95f 100644
--- a/main.c
+++ b/main.c
@@ -82,16 +82,63 @@ void pre_auton() {
   bStopTasksBetweenModes = true;
 }
 
-void driveTiles(int numberOfTiles) {
-	while(numberOfTiles * TILE > nMotorEncoder[1]) [
-		// TODO
+void driveTiles(int numberOfTiles, boolean direction) {
+  
+	while(direction && numberOfTiles * TILE > nMotorEncoder[1]) [
+		if(abs(nMotorEncoder[1]) - 10 > nMotorEncoder[2]) {
+    		motor[driveLB] = 100;
+    		motor[driveLF] = 100; 
+      		motor[driveRB] = 90;
+    		motor[driveRF] = 90;
+    	}
+      	if(abs(nMotorEncoder[2]) - 10 > nMotorEncoder[1]) {
+    		motor[driveLB] = 90;
+    		motor[driveLF] = 90; 
+      		motor[driveRB] = 100;
+    		motor[driveRF] = 100;
+    	} else {
+      		motor[driveLB] = 100;
+    		motor[driveLF] = 100; 
+      		motor[driveRB] = 100;
+    		motor[driveRF] = 100;
+    	}
+	}
+    while(!direction && numberOfTiles * TILE > nMotorEncoder[1]) [
+		if(abs(nMotorEncoder[1]) - 10 > nMotorEncoder[2]) {
+    		motor[driveLB] = -100;
+    		motor[driveLF] = -100; 
+      		motor[driveRB] = -90;
+    		motor[driveRF] = -90;
+    	}
+      	if(abs(nMotorEncoder[2]) - 10 > nMotorEncoder[1]) {
+    		motor[driveLB] = -90;
+    		motor[driveLF] = -90; 
+      		motor[driveRB] = -100;
+    		motor[driveRF] = -100;
+    	} else {
+      		motor[driveLB] = -100;
+    		motor[driveLF] = -100; 
+      		motor[driveRB] = -100;
+    		motor[driveRF] = -100;
+    	}
 	}
 }
 task autonomous() {
 	shootBall();
-	
+	driveTiles(2, true);
+    //driveTiles(1, false);
+}
+void turnRight(int turns) {
+    while(turns * 360 < nMotorEncoder[1]
+}
+void turnLeft(int turns) {
+      
+}
+      
+void clearEnc() {
+    nMotorEncoder[1] = 0;
+    nMotorEncoder[2] = 0;    
 }
-
 task usercontrol() {
   while (true) {
   	//Dual Driving