# Moving to a Target Distance Now that you have created the constant variables needed to calculate the amount of ticks per mm moved, you can use this to set a target distance. For instance, if you would like to have the robot move forward two feet, converting from feet to millimeters and multiplying by the `COUNTS_PER_MM` will give you the amount of counts (or ticks) needed to reach that distance! Let's create two more variables called `leftTarget` and `rightTarget`. Add the

and

blocks within the if/then statement that will run once Play is selected.

Inserting our leftTarget and rightTarget variables

### Converting from mm to Feet Right now the main distance factor is `COUNTS_PER_MM` , however you may want to go a distance that is in the imperial system, such as 2 feet (or 24 inches). The target distance in this case will need to be converted to mm. To convert from feet to millimeters use the following formula: $$ d\_{(mm)} = d\_{(ft)} × 304.8 $$ If you convert 2 feet to millimeters, it comes out the be 609.6 millimeters. For the purpose of this guide, lets go ahead an round this to be 610 millimeters. ### Converting Feet to Ticks Next, multiply 610 millimeters by the `COUNTS_PER_MM` variable to get the number of ticks needed to move the robot 2 feet. Since the intent is to have the robot move in a straight line, set both the `leftTarget` and `rightTarget`, to be equal to 610 \* `COUNTS_PER_MM`

Lastly, we need to change the

so that both motors are set to the appropriate target position. To do this add the

and

blocks to their respective motor.