   extinguisher.write(90);
 
 
+
+
   pinMode(IR_PIN_LEFT, INPUT);
   pinMode(IR_PIN_RIGHT, INPUT);
 

#define BABY_LED 17
#define CAMERA 15
#define CAMERA_LED 16
#define GYRO_INPUT_PIN 18

//Ultrasonic Trigger and Echo pins (30-39)
#define F_L_ECHO  30  //Front-left Ultrasonic


void stopExtinguisher(){
  extinguisher.write(90);
  while(true){
    digitalWrite(FLAME_LED, HIGH);
  }
}

//Gyro functions
//Resets the gyro so that the current positioning is angle "0"
void resetGyro(){
  gyroStartAngle = getGyroRoll();
  gyroTargetAngle = 0;
}

//Returns the current angle of the robot relative to its starting angle
float getGyroAngle(){
  return getGyroRoll()-gyroStartAngle;
}

//adjusts the target angle based on how much we want to turn and turns the robot until that target is reached
