void drive()
{
    float vel[2] = {0.1, 0.0};    // create an array to store our velocity
    float pos[2] = {0,0};          // create an array to store our position
      
    float lastTime=com.msecsElapsed();    // remember last time to measure change in time to calculate position
  
    while( com.isConnected() && false == bumper.value() && _run )
    {
        pos[0]=vel[0]*(com.msecsElapsed()-lastTime)+pos[0];   // update the position
        pos[1]=vel[1]*(com.msecsElapsed()-lastTime)+pos[1];
        std::cout << "Pos:" << pos[0] << "," << pos[1] <<std::endl;   //  print out the position.\
  
  	omniDrive.setVelocity( vel[0], vel[1], 0 );   // set the x and y velocity to our velocity setting set rotational velocity to 0
          
        if(pos[0]>=_rect[0] && pos[1] <= 0){    // this if statement changes the velocity when we reach the first corner of our rectange
            vel[0]=0;
            vel[1]=.1;
        }
          
        if(pos[0]>=_rect[0] && pos[1] >= _rect[1]){   // second corner 
            vel[0]=-0.1;
            vel[1]=0;
        }
          
        if(pos[0]<=0 && pos[1] >= _rect[1]){  // third corner 
            vel[0]=0;
             vel[1]=-0.1;
        }
        
        if(pos[0]<=0 && pos[1] <= 0){  // back to start location
            vel[0]=0.1;
            vel[1]=0;
        }
  
        lastTime=com.msecsElapsed();   // reset the last time variable
        com.processEvents();   // sincronizes the com class and the onboard computer
 	rec::robotino::api2::msleep( 100 );   // wait 100 ms
    }
}