diff --git a/main.js b/main.js
index b358935..da66b7b 100644
--- a/main.js
+++ b/main.js
@@ -22,22 +22,17 @@ I will be syncing with this repository on my computer and pasting the code into
 */
 
 async function startProgram() {
-	//Jake' Movement Here (Stage 1):
-	await EMWStage1()
-	await EMWStage2()
-	await EMWStage3()
-	await EMWStage4()
-	await EMWStage5()
-	await EMWStage6()
-	await EMWStage7()
-
+	//Tung's Movement Here:
+	await TungStage1()
+	await TungStage2()
+	await TungStage3()
 	exitProgram()
 }
 
-async function EMWStage1(){
-	//Travel to (0,30) at a heading of 0 degrees
+async function TungStage1(){
+	//Travel to (240,0) at a heading of 90 degrees
 
-	let setpoint = 30;
+	let setpoint = 240;
 	let k = 2.0;
 	let kD = 0.5;
 	let kI = 0.001;
@@ -53,7 +48,7 @@ async function EMWStage1(){
 
 	while(stageComplete != true){
 		//get the current location of the robot.
-		var location = getLocation().y;
+		var location = getLocation().x;
 
 		//Use a PID algorithm to set the position of the robot
 		var error = directionSign*(setpoint - location);
@@ -75,7 +70,7 @@ async function EMWStage1(){
 		}
 
 		//This function rolls the motors at a heading of 0, with a motor speed of output, for 0.2 seconds.
-		await roll(0,output,0.2);
+		await roll(90,output,0.2);
 
 		if(error < 2.0){
 			successTimer += 0.1;
@@ -94,23 +89,22 @@ async function EMWStage1(){
 
 }
 
-async function EMWStage2(){
+async function TungStage2(){
 
-//Turn to a heading of 90 degrees.
+//Turn to a heading of 180 degrees.
 
 //This function rolls the motors at a heading of 90, with a motor speed of 50, for 0.1 seconds.
-await roll(90,50,0.1)
+await roll(180,50,0.1)
 //...and then this moves it back.
-await roll(90,-50,0.1)
+await roll(180,-50,0.1)
 }
 
 
-async function EMWStage3(){
+async function TungStage3(){
 
-	//Travel to (60,30) at a heading of 90 degrees
-	//Make sure to change the heading at line 150!
+	//Travel to (240,-60) at a heading of 180 degrees
 
-	let setpoint = 60;
+	let setpoint = -60;
 	let k = 2.0;
 	let kD = 0.5;
 	let kI = 0.001;
@@ -118,14 +112,14 @@ async function EMWStage3(){
 	var oldError = 0;
 	var successTimer = 0.0;
 	var maxSpeed = 100;
-	var directionSign = 1; //-1 for moving left or down, 1 for moving right or up
+	var directionSign = -1; //-1 for moving left or down, 1 for moving right or up
 	stageComplete = false;
 
 	await setMainLed({r:0,g:0,b:255})
 
 	while(stageComplete != true){
 		//get the current location of the robot. Note that this uses the x-coordinate this time, not y.
-		var location = getLocation().x;
+		var location = getLocation().y;
 
 		//Use a PID algorithm to set the position of the robot
 		var error = directionSign*(setpoint - location);
@@ -147,155 +141,7 @@ async function EMWStage3(){
 		}
 		//We want all of this to be happening at a heading of 90 degrees
 
-		await roll(90,output,0.2);
-
-		if(error < 2.0){
-			successTimer += 0.1;
-
-		}
-
-		//If the error has been less than 2.0 cm for more than half a second, finish the stage.
-		if(successTimer > 0.5){
-			stageComplete = true
-		}
-
-		await delay(0.025);
-		//If our error is less than 1.0 cm, keep track of how long that has been the case.
-
-	}
-
-}
-async function EMWStage4(){
-
-
-//Turn to a heading of 0 degrees
-
-//This function rolls the motors at a heading of 90, with a motor speed of 50, for 0.1 seconds.
-await roll(0,50,0.1)
-//...and then this moves it back.
-await roll(0,-50,0.1)
-}
-
-async function EMWStage5(){
-	//Travel to (60,90) at a heading of 0 degrees
-	//Make sure to change the heading at line 223!
-
-	let setpoint = 90;
-
-	let k = 2.0;
-	let kD = 0.5;
-	let kI = 0.001;
-	var accumulatedError = 0;
-	var oldError = 0;
-	var successTimer = 0.0;
-	var maxSpeed = 100;
-	var directionSign = 1; //-1 for moving left or down, 1 for moving right or up
-
-	var stageComplete = false;
-
-	//Visual feedback to know which stage we are on
-	await setMainLed({r:255,g:0,b:0})
-
-	while(stageComplete != true){
-		//get the current location of the robot.
-		var location = getLocation().y;
-
-		//Use a PID algorithm to set the position of the robot
-		var error = directionSign*(setpoint - location);
-		var changeError = error - oldError;
-		accumulatedError = error + accumulatedError
-
-
-		var output = k*error - kD*changeError + kI*accumulatedError;
-		oldError = error
-
-		if(output >maxSpeed){
-
-			output = maxSpeed;
-
-		}
-		if(output < -255){
-
-			output = -maxSpeed;
-		}
-
-		//This function rolls the motors at a heading of 0, with a motor speed of output, for 0.2 seconds.
-		await roll(0,output,0.2);
-
-		if(error < 2.0){
-			successTimer += 0.1;
-
-		}
-
-		//If the error has been less than 2.0 cm for more than half a second, finish the stage.
-		if(successTimer > 0.5){
-			stageComplete = true
-		}
-
-		await delay(0.025);
-		//If our error is less than 1.0 cm, keep track of how long that has been the case.
-
-
-	}
-
-}
-
-async function EMWStage6(){
-
-//Turn to a heading of 270 degrees
-
-//This function rolls the motors at a heading of 90, with a motor speed of 50, for 0.1 seconds.
-await roll(270,-50,0.1)
-//...and then this moves it back.
-await roll(270,50,0.1)
-}
-
-async function EMWStage7(){
-
-	//Travel to (0,90) at a heading of 270 degrees
-	//Make sure to change the heading at line 298!
-
-	let setpoint = 0; //drive for 3 tiles
-
-	let k = 2.0;
-	let kD = 0.5;
-	let kI = 0.001;
-	var accumulatedError = 0;
-	var oldError = 0;
-	var successTimer = 0.0;
-	var maxSpeed = 100;
-	var directionSign = -1; //-1 for moving left or down, 1 for moving right or up
-
-	var stageComplete = false;
-
-	//Visual feedback to know which stage we are on
-	await setMainLed({r:255,g:0,b:0})
-
-	while(stageComplete != true){
-		//get the current location of the robot.
-		var location = getLocation().x;
-
-		//Use a PID algorithm to set the position of the robot
-		var error = directionSign*(setpoint - location);
-		var changeError = error - oldError;
-		accumulatedError = error + accumulatedError
-
-
-		var output = k*error - kD*changeError + kI*accumulatedError;
-		oldError = error
-
-		if(output >maxSpeed){
-
-			output = maxSpeed;
-
-		}
-		if(output < -255){
-
-			output = -maxSpeed;
-		}
-
-		//This function rolls the motors at a heading of 0, with a motor speed of output, for 0.2 seconds.
-		await roll(270,output,0.2);
+		await roll(180,output,0.2);
 
 		if(error < 2.0){
 			successTimer += 0.1;
@@ -310,7 +156,6 @@ async function EMWStage7(){
 		await delay(0.025);
 		//If our error is less than 1.0 cm, keep track of how long that has been the case.
 
-
 	}
 
 }