diff --git a/infinity_loop.py b/infinity_loop.py
new file mode 100644
index 0000000..0206734
--- /dev/null
+++ b/infinity_loop.py
@@ -0,0 +1,88 @@
+from time import sleep
+import robot
+
+POWER = 70
+
+TURN_T = 0.079 # 10 degrees
+DRIVE_T = 0.22 # 10 centimeter
+
+RIGHT_WHEEL_OFFSET = 4
+
+CLOCKWISE_OFFSET = 0.82
+
+def loop(arlo):
+    arlo.go_diff(POWER, (POWER + RIGHT_WHEEL_OFFSET) / 10, 1, 1)
+    sleep(DRIVE_T * 10)
+    arlo.stop()
+
+    arlo.go_diff(POWER / 10, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
+    sleep(DRIVE_T * 10)
+    arlo.stop()
+
+def clockwise_square(arlo):
+    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
+    sleep(TURN_T * 0.5)
+    arlo.stop()
+    sleep(0.5)
+
+    for _ in range(4):
+        # Driving forward
+        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
+        sleep(DRIVE_T * 10)
+        arlo.stop()
+
+        sleep(1)
+
+        # Turning 90 degrees
+        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
+        sleep(TURN_T * 10 * CLOCKWISE_OFFSET)
+        arlo.stop()
+        sleep(0.2)
+        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
+        sleep(TURN_T)
+        arlo.stop()
+
+
+        sleep(1)
+
+def counter_square(arlo):
+    arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
+    sleep(TURN_T * 0.5)
+    arlo.stop()
+    sleep(0.5)
+
+    for _ in range(4):
+        # Driving forward
+        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 1)
+        sleep(DRIVE_T * 10)
+        arlo.stop()
+
+        sleep(0.5)
+
+        # Turning 90 degrees
+        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 0, 1)
+        sleep(TURN_T * 10)
+        arlo.stop()
+        sleep(0.2)
+        arlo.go_diff(POWER, POWER + RIGHT_WHEEL_OFFSET, 1, 0)
+        sleep(TURN_T)
+        arlo.stop()
+
+        sleep(0.5)
+
+def main():
+    # Initializes the robot and runs the
+    arlo = robot.Robot()
+
+    direction = int(input("clockwise (1)/counter (2):"))
+
+    try:
+        loop(arlo)
+
+    except KeyboardInterrupt:
+        arlo.stop()
+
+
+if __name__ == "__main__":
+
+    main()