diff --git a/fall-2020/navigation.py b/fall-2020/navigation.py
index 3cdf661..c7b6512 100644
--- a/fall-2020/navigation.py
+++ b/fall-2020/navigation.py
@@ -70,12 +70,14 @@ def set_desired_position(self, desired_position):
         Note: assume the user will pass in the desired_position parameter when using
         the interface 
         """
-        pass
+        # This sets the desired position to the value passed by the user when they use the UI
+        self.desired_position = desired_position
+
 
-    
     def update_current_position(self):
         """ Updates the current position of the TBM """
-        pass
+        # This updates the current position
+        self.current_position = self.GPS.getPos()
 
 
     def navigate(self):
@@ -83,11 +85,58 @@ def navigate(self):
         
         Based on the current position tuple, compared to the desired position tuple,
         make decisions on steering, and ensure that the actuations are successful
-
         Returns: True if actuation requests were successful, False if not
         Note: It may be good to notify the user if something unexpected happens!
+
+        This method was implemented by identifying the difference in the desired position
+        and the current position. Each difference was stored in the variables x, y, and z.
+        Based on these variables, actuations are attempted to move TBM.
+        If all actuations were successful, this method returns True, and the user is notified
+        that everything went well! Otherwise, the user is notified that actuations were 
+        unsuccesful in the corresponding direction (x, y, or z). 
         """
-        pass
+        # Evaluate the differences of each position for x, y, and z
+        x = self.desired_position[0] - self.current_position[0]
+        y = self.desired_position[1] - self.current_position[1]
+        z = self.desired_position[2] - self.current_position[2]
+
+        # First check the x component and attempt actuation
+        if (x > 0):
+            x_act = self.steering.move_forward(x)
+        else:
+            x_act = self.steering.stop()
+
+        # Next check the y component and attempt actuation
+        if (y > 0):
+            y_act = self.steering.move_right(y)
+        elif (y < 0):
+            y_act = self.steering.move_left(y)
+        else:
+            y_act = self.steering.stop()
+
+        # Lastly, check the z component and attempt actuation
+        if (z > 0):
+            z_act = self.steering.move_up(z)
+        elif (z < 0):
+            z_act = self.steering.move_down(z)
+        else:
+            z_act = self.steering.stop()
+
+        # Check if all actuations were successful! Return True if all were successful.
+        if x_act and y_act and z_act:
+            print("All actuations were successful :D")
+            return True
+
+        # Next check all the actuations and print out to the user where TBM is running into errors for either x, y, or z.
+        if not x_act:
+            print("Something went wrong with the actuation moving in the x-direction!")
+        if not y_act:
+            print("Something went wrong with the actuation moving in the y-direction!")
+        if not z_act:
+            print("Something went wrong with the actuation moving in the z-direction!")
+
+        # If not all of the actuations were successful, return False
+        return False
 
 
 # Code below is provided for you, YOU DO NOT NEED TO IMPLEMENT THIS
@@ -108,12 +157,10 @@ def pollSensor(self):
         """
         self.x, self.y, self.z = self.GPS.read()
     
-   
     def getPos(self):
         """ Returns the TBM position """
         return self.x, self.y, self.z
 
-
 class Steering:
     """ Interfaces with the actuator which steers the TBM, and controls its speed 
     
@@ -132,7 +179,6 @@ class Steering:
     def __init__(self, actuation_component):
         self.act = actuation_component
 
-
     def move_left(self, left_distance):
         """ Steers the TBM left
 
@@ -154,7 +200,6 @@ def move_down(self, down_distance):
         """
         return self.act.steer_down(down_distance)
 
-
     def move_up(self, up_distance):
         """ Steers the TBM to the right
 
@@ -162,7 +207,6 @@ def move_up(self, up_distance):
         """
         return self.act.steer_up(up_distance)
 
-
     def move_forward(self):
         """ Moves the TBM forward
 
@@ -170,11 +214,11 @@ def move_forward(self):
         """
         return self.act.forward()
 
-
     def stop(self):
         """ Stops the TBM from moving
 
         Returns: True if the motor stops the TBM, False if it does not
         """
         return self.act.stop()
-    
+
+        
\ No newline at end of file