   if(frontRightUltrasonic.getDistance() < dogDistance){
     dog2 = true;
   }
+  delay(50);
 }
 
 void levelOneNav() {

  upperRightRoom();
  secondDogCheck();

  if(dog2){
    //turn around and get to the lower right room the long way
  } else {
    //proceed forward and get to the lower right room the short way
  }

  while(followDirection == 8)
  {
    //void lowerRightRoom(){

    turn(-45);

    moveForward(diagonalMove);

    turn(-90);
    delay(1000);  //see if there's fire in the upper corner
