diff --git a/codes_for_scrimmage/hazmat/mainhazmatUPD.py b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
index 59471a4..bffb210 100644
--- a/codes_for_scrimmage/hazmat/mainhazmatUPD.py
+++ b/codes_for_scrimmage/hazmat/mainhazmatUPD.py
@@ -111,24 +111,36 @@ async def Run3():  # tip the scale.py
 
 
 async def Run4():  # From Send_Over_Final.py
-    # Get to mission
+        #Get to mission
     await drive_base.straight(920)
-    await drive_base.turn(-90, Stop.HOLD)
+    await drive_base.turn(-90,Stop.HOLD)
     await drive_base.straight(65)
-    # Solve mission
+    #Solve mission
     drive_base.turn(-10)
-    await left_arm.run_angle(10000, -4000)
-    # Get to Red Start
+    await left_arm.run_angle(10000,-4000)
+    #Get to Red Start
     await drive_base.straight(-110)
     await drive_base.turn(90)
     await drive_base.straight(500)
     
+    # while True:
+    #     distance_mm = await lazer_ranger.distance()
+    #     print('distancing...',distance_mm)
+
+    #     if distance_mm < 300:
+    #         drive_base.stop
+    #         break
+    #     else:
+    #         drive_base.straight(300)
+    #         print('running...')
+    #     await wait(10)
     await multitask(
         drive_forward(), 
         monitor_distance()
     )
 
 
+
 # Add Rishi's code here
 async def Run5(): 
     await drive_base.straight(519)