diff --git a/CMakeLists.txt b/CMakeLists.txt
index ee14052..353dded 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -57,7 +57,7 @@ enable_testing()
 
 add_executable(
     RoboidControlTest
-    "test/Dummy_test.cc"
+    "test/BB2B_test.cc"
 )
 target_link_libraries(
     RoboidControlTest
diff --git a/test/Dummy_test.cc b/test/BB2B_Test.cc
similarity index 57%
rename from test/Dummy_test.cc
rename to test/BB2B_Test.cc
index abba183..91d41b1 100644
--- a/test/Dummy_test.cc
+++ b/test/BB2B_Test.cc
@@ -5,7 +5,7 @@
 #include "DistanceSensor.h"
 #include "Roboid.h"
 
-TEST(Dummy, Foo) {
+TEST(BB2B, Basics) {
   Motor motorLeft = Motor();
   Motor motorRight = Motor();
 
@@ -21,5 +21,19 @@ TEST(Dummy, Foo) {
                             Placement(&motorRight, Vector3(1, 0, 0)));
 
   Roboid *roboid = new Roboid(perception, propulsion);
+
+  bool obstacleLeft = roboid->perception->ObjectNearby(-30);
+  bool obstacleRight = roboid->perception->ObjectNearby(30);
+
+  EXPECT_FALSE(obstacleLeft);
+  EXPECT_FALSE(obstacleRight);
+
+  float leftMotorSpeed = obstacleRight ? -1.0F : 1.0F;
+  float rightMotorSpeed = obstacleLeft ? -1.0F : 1.0F;
+
+  DifferentialDrive *diffDrive = (DifferentialDrive *)&roboid->propulsion;
+  diffDrive->SetTargetSpeeds(leftMotorSpeed, rightMotorSpeed);
+
+  // cannot chek verlocity in this branch?
 }
 #endif