diff --git a/SharpDistance_v0.ino b/SharpDistance_v0.ino
index 75ad994..61ba557 100644
--- a/SharpDistance_v0.ino
+++ b/SharpDistance_v0.ino
@@ -1,52 +1,73 @@
-#define sensorPin A1 // Sharp 2Y0A21 sensor (10 to 80 cm)
+#define leftSensorPin A1 // Sharp 2Y0A21 sensor (10 to 80 cm) - Left
+#define rightSensorPin A2 // Sharp 2Y0A21 sensor (10 to 80 cm) - Right
+#define relayPin 2 // Digital pin for relay
+#define confirmationPin 3 // Digital pin for confirmation input
 #define numReadings 10 // Number of readings to average for the moving average
 
-int readings[numReadings]; // Array to store the readings
-int readIndex = 0; // Index of the current reading
-int total = 0; // Sum of the readings
-int average = 0; // Average of the readings
+int leftReadings[numReadings]; // Array to store the left sensor readings
+int rightReadings[numReadings]; // Array to store the right sensor readings
+int leftReadIndex = 0; // Index of the current left sensor reading
+int rightReadIndex = 0; // Index of the current right sensor reading
+int leftTotal = 0; // Sum of the left sensor readings
+int rightTotal = 0; // Sum of the right sensor readings
+int leftAverage = 0; // Average of the left sensor readings
+int rightAverage = 0; // Average of the right sensor readings
 
 void setup() {
   Serial.begin(9600);
-  pinMode(sensorPin, INPUT);
+  pinMode(leftSensorPin, INPUT);
+  pinMode(rightSensorPin, INPUT);
+  pinMode(relayPin, OUTPUT);
+  pinMode(confirmationPin, INPUT);
+
   for (int i = 0; i < numReadings; i++) {
-    readings[i] = 0; // Initialize the readings array
+    leftReadings[i] = 0; // Initialize the left sensor readings array
+    rightReadings[i] = 0; // Initialize the right sensor readings array
   }
 }
 
 void loop() {
-  // Subtract the last reading
-  total = total - readings[readIndex];
+  if (digitalRead(confirmationPin) == HIGH) {
+    // Process left sensor readings
+    leftTotal = leftTotal - leftReadings[leftReadIndex];
+    int leftRawValue = analogRead(leftSensorPin);
+    int leftDistance = 123.221814 * exp(-0.005895 * leftRawValue);
+    leftTotal = leftTotal + leftDistance;
+    leftReadings[leftReadIndex] = leftDistance;
+    leftReadIndex = (leftReadIndex + 1) % numReadings;
+    leftAverage = leftTotal / numReadings;
 
-  // Read the raw analog value
-  int rawValue = analogRead(sensorPin);
+    // Process right sensor readings
+    rightTotal = rightTotal - rightReadings[rightReadIndex];
+    int rightRawValue = analogRead(rightSensorPin);
+    int rightDistance = 123.221814 * exp(-0.005895 * rightRawValue);
+    rightTotal = rightTotal + rightDistance;
+    rightReadings[rightReadIndex] = rightDistance;
+    rightReadIndex = (rightReadIndex + 1) % numReadings;
+    rightAverage = rightTotal / numReadings;
 
-  // Calculate distance using the formula
-  int distance = 123.221814 * exp(-0.005895 * rawValue);
+    // Print the raw values and the averaged distances to the Serial Monitor
+    Serial.print("Left Raw Value: ");
+    Serial.print(leftRawValue);
+    Serial.print(", Left Distance: ");
+    Serial.print(leftAverage);
+    Serial.println(" cm");
 
-  // Add the current reading to the total
-  total = total + distance;
+    Serial.print("Right Raw Value: ");
+    Serial.print(rightRawValue);
+    Serial.print(", Right Distance: ");
+    Serial.print(rightAverage);
+    Serial.println(" cm");
 
-  // Store the reading in the array
-  readings[readIndex] = distance;
+    // Activate relay if left distance is greater than or equal to right distance
+    if (leftAverage >= rightAverage) {
+      digitalWrite(relayPin, HIGH);
+    } else {
+      digitalWrite(relayPin, LOW);
+    }
 
-  // Advance to the next position in the array
-  readIndex = readIndex + 1;
-
-  // If we're at the end of the array, wrap around to the beginning
-  if (readIndex >= numReadings) {
-    readIndex = 0;
+    delay(250); // Approximately 250 ms delay
+  } else {
+    digitalWrite(relayPin, LOW); // Ensure the relay is off when not in measurement mode
   }
-
-  // Calculate the average
-  average = total / numReadings;
-
-  // Print the raw analog value and the averaged distance to the Serial Monitor
-  Serial.print("Raw Value: ");
-  Serial.print(rawValue);
-  Serial.print(", Distance: ");
-  Serial.print(average);
-  Serial.println(" cm");
-
-  delay(250); // Approximately 250 ms delay
 }