 Ultrasonic backUltrasonic(B_ECHO, B_TRIG, true);
 
 //Move controls
-float v_max = 5;
-float t_acceleration = 0.5;
+float v_max = 24;
+float t_acceleration = 0;
 
 float getRotation();
 

  setup_gyro();
  resetGyro();

  Serial.println("Listening for microphone");
  FreqCount.begin(200); // Begin measuring sound
  checkMicrophone();  //robot stays in setup until frequency is heard
}

void loop() {

  float time_travel = (distance/v_max) - t_acceleration;
  leftMotor.set(leftSpeed);
  rightMotor.set(rightSpeed);
  delay(time_travel*1000);
  leftMotor.set(0);
  rightMotor.set(0);
}
