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


#include "FreqCount.h"

#define LEFT_MOTOR_1 8
#define LEFT_MOTOR_2 9

#define RIGHT_MOTOR_1 10
#define RIGHT_MOTOR_2 11

#define IR_PIN_LEFT 6
#define IR_PIN_RIGHT 20


// Bounds for start sound frequency:
#define LOW_START 3306
#define HIGH_START 4200

Motor leftMotor(LEFT_MOTOR_1, LEFT_MOTOR_2);
Motor rightMotor(RIGHT_MOTOR_1,RIGHT_MOTOR_2);
Servo extinguisher;

//Motor top speeds
double rightSpeed = 0.5;
double leftSpeed = 0.5;

//dog flags
bool dog1 = false;
