     gyroTargetAngle = 360 + gyroTargetAngle;
   }
   if(gyroTargetAngle < getGyroAngle()){
-    leftMotor.set(0.5);
-    rightMotor.set(0.5);
+    leftMotor.set(leftSpeed);
+    rightMotor.set(rightSpeed);
     while(gyroTargetAngle < getGyroAngle()){
       delay(50);
     }

Motor rightMotor(RIGHT_MOTOR_1,RIGHT_MOTOR_2);
Servo extinguisher;

//Ultrasonic frontLeftUltrasonic(F_L_ECHO, F_L_TRIG, true);
Ultrasonic frontRightUltrasonic(F_R_ECHO, F_R_TRIG, true);
Ultrasonic leftUltrasonic(L_ECHO, L_TRIG, true);

double closeToWall = 2;   //defines how close the robot should be (inches) to the wall to register as being "too close"

void rollForward() {
  leftMotor.set(leftSpeed);
  rightMotor.set(rightSpeed);
}

void rollBackward() {
  leftMotor.set(-leftSpeed);
  rightMotor.set(-rightSpeed);
}

void moveSlightLeft() {
  leftMotor.set(leftSpeed/2);
  rightMotor.set(rightSpeed*.75);
  delay(100);
  stopRobot();
}

void moveSlightRight() {
  leftMotor.set(leftSpeed*.75); //Half power plus additional 25
  rightMotor.set(rightSpeed/2);
  delay(100);
  stopRobot();
}
