diff --git a/Ashrumachan/Tasks.txt b/Ashrumachan/Tasks.txt
index 7bfe392..5f2745a 100644
--- a/Ashrumachan/Tasks.txt
+++ b/Ashrumachan/Tasks.txt
@@ -1,2 +1,2 @@
-5th October 2019
+5th october 2019
 Mapping code using encoders
diff --git a/Ashrumachan/mapping_encoder.ino b/Ashrumachan/mapping_encoder.ino
index 685e478..c7e39f8 100644
--- a/Ashrumachan/mapping_encoder.ino
+++ b/Ashrumachan/mapping_encoder.ino
@@ -3,7 +3,7 @@
 #define enc_21 3
 #define enc_22 5
 
-volatile int enc1_val = 0;
+volatile int enc1_val = 0
 volatile int enc2_val = 0;
 int x_counter,x_motion,y_counter,y_motion;
 void setup() {
diff --git a/Ashrumachan/shorter_path.ino b/Ashrumachan/shorter_path.ino
index 129b61e..524dfba 100644
--- a/Ashrumachan/shorter_path.ino
+++ b/Ashrumachan/shorter_path.ino
@@ -5,11 +5,11 @@
 
 int d_1, d_2, d_3, d_4;
 int s1, s2, s3, s4;
-int count = 0, sf = 1, w = 0;
-int x_val, y_val, x_motion, y_motion;
+int count = 0, sf = 1, w = 0,angle;
+int x_val, y_val, x_motion, y_motion,x,y;
 volatile int c = 0;
 volatile int c1 = 0;
-int x, y, arr[8][2] = {{0, 0}, {10, 0}, {10, 8}, {12, 8}, {12, 12}, {10, 12}, {10, 20}, {20, 20}};
+int x_counter=0, y_counter=0,x_count,y_count, arr[4][2] = {{0, 0}, {10, 8}, {12, 8}, {20, 20}};
 void motion(int x_val, int y_val);
 void setup() {
   pinMode(a, INPUT);
@@ -40,42 +40,29 @@ void setup() {
 
 void loop()
 {
-  Serial.print(c);
-  Serial.print("   ");
-  Serial.print(c1);
-  Serial.println("   ");
-  x = c / 100;
-  y = c1 / 100;
-
-  if (count % 2 == 0)
-  {
-    if (x == 12)
-    {
-      do  {
-        motion (-200, 0);
-      }
-      while (x != arr[count][0]);
+  x_count= c / 100;
+  x_counter = x_counter+x_count;
+  y_count= c1 / 100;
+  y_counter = y_counter+y_count;
 
-    }
-    else {
-      do  {
-        motion (200, 0);
-      }
-      while (x != arr[count][0]);
-    }
-    count++;
-    }
-  else
+  for (int i = 1; i <= 3; i++)
   {
-    do  {
-      motion (0, 200);
+    while (x_counter != arr[i][0] && y_counter != arr[i][1])
+    {
+      x_val = arr[i][0] - x_counter;
+      y_val = arr[i][1] - y_counter;
+      angle = atan(y_val, x_val);
+      x_motion = map((90 - angle), -90, 90, -255, 255);
+      y_motion = map(angle, -90, 90, -255, 255);
+      motion(x_motion, y_motion);
     }
-    while (y != arr[count][1]);
-    count++;
+    c=0;
+    c1=0;
   }
 }
 
 
+
 void func() {
 
   int  s = digitalRead(a);
diff --git a/Ashrumachan/task2.ino b/Ashrumachan/task2.ino
index cc215cd..26bcbe0 100644
--- a/Ashrumachan/task2.ino
+++ b/Ashrumachan/task2.ino
@@ -8,7 +8,7 @@ volatile int enc2_val = 0;
 int x_counter, x_motion, y_counter, y_motion, X_motion, Y_motion, x_val, y_val, arr[2][2] = {{0, 0}, {10, 10}};
 int d_1, d_2, d_3, d_4;
 int s1, s2, s3, s4;
-int count = 0, sf = 1, w = 0;
+int count = 0, sf = 1, w = 0,angle;
 void setup() {
   pinMode(enc_11, INPUT);
   digitalWrite(enc_11, HIGH);
@@ -28,19 +28,25 @@ void setup() {
 
 void loop()
 {
-  Serial.print(enc1_val);
-  Serial.print("   ");
-  Serial.print(enc2_val);
-  Serial.print("   ");
   x_counter = enc1_val / 100;
   y_counter = enc2_val / 100;
-
-  x_val = arr[1][0] - arr[0][0];
-  y_val = arr[1][1] - arr[0][1];
-  x_motion = map(x_motion, -x_val, x_val, 0, 255);
-  y_motion = map(y_motion, -y_val, y_val, 0, 255);
-  motion(x_motion, y_motion);
-
+  while (x_counter != arr[1][0] && y_counter != arr[1][1])
+  {
+    x_val = arr[1][0] - x_counter;
+    y_val = arr[1][1] - y_counter;
+    angle = atan(y_val, x_val);
+    
+    if(angle==45){
+    x_motion =255;
+    y_motion =255;
+    }
+    else 
+    {
+    x_motion = map((90 - angle), -90, 90, -255, 255);
+    y_motion = map(angle, -90, 90, -255, 255);
+    }
+    motion(x_motion, y_motion);
+  }
 }
 
 
@@ -68,14 +74,13 @@ void func1() {
 }
 void motion(int x_motion, int y_motion)
 {
-  X_motion = x_motion ;
-  Y_motion = y_motion ;
+
 
   sf = 1;
-  s1 = sf * (0.1768 * X_motion + 0.1768 * Y_motion + 0.25 * w);
-  s2 = sf * (0.1768 * X_motion + 0.1768 * Y_motion + 0.25 * w);
-  s3 = sf * (-0.1768 * X_motion - 0.1768 *  Y_motion + 0.25 * w);
-  s4 = sf * (-0.1768 * X_motion - 0.1768 * Y_motion + 0.25 * w);
+  s1 = sf * (0.1768 * x_motion + 0.1768 * y_motion + 0.25 * w);
+  s2 = sf * (0.1768 * x_motion + 0.1768 * y_motion + 0.25 * w);
+  s3 = sf * (-0.1768 * x_motion - 0.1768 *  y_motion + 0.25 * w);
+  s4 = sf * (-0.1768 * x_motion - 0.1768 * y_motion + 0.25 * w);
   d_1 = (s1 > 0 ? 1 : 0);
   d_2 = (s2 > 0 ? 1 : 0);
   d_3 = (s3 > 0 ? 1 : 0);