"You go to clean."
It is used that way in some circumstances, though I kind of got a little confused on that bit myself, so I can't tell you what they are. They'll turn up somewhere else in the course.
In the meantime, though, use -enda, especially if the next bit looks like another verb.
It also is dialectal variation; there are a few cases in which it must be -enda; to my knowledge that also never is wrong (language development), but in certain regions (and originally that was the - only? - correct form) they use -kwenda within conjugation.