 float gyroTargetAngle = 0;
 
 float angleThreshold = 3;
+float driftAngle = 30;
 
 unsigned long freqCount;
 double closeToWall = 2;   //defines how close the robot should be (inches) to the wall to register as being "too close"

    FreqCount.begin(200); // Begin measuring sound
    checkMicrophone();  //robot stays in setup until frequency is heard

    moveForward(36);
  }
}


  }

  if(angle > 0){
    leftMotor.set(-leftSpeed);
    rightMotor.set(rightSpeed);
  }else{
    leftMotor.set(leftSpeed);
    rightMotor.set(-rightSpeed);
  }

  while(abs(getGyroAngle() - gyroTargetAngle) > angleThreshold){
    Serial.println(String(getGyroAngle()));
    delay(5);
  }

  stopRobot();
