 
 void followWall(double targetDistance) {
 	if (rightUltrasonic.getDistance() < targetDistance) {
+		tankDrive(0.6, 0.3, 0.0);
+	} else if (rightUltrasonic.getDistance() > targetDistance) {
 		tankDrive(0.3, 0.6, 0.0);
-	} else if (rightUltrasonic.getDistance() > targetDistance) {
-		tankDrive(0.6, 0.3, 0.0);
 	} else {
 		tankDrive(0.6, 0.6, 0.0);
 	}

			leftTurns++;
		}
	} else if (leftTriggered && !frontTriggered) {
		hDrive(swagSpeed - 0.2, -swagSpeed, 0.0);
	} else if (rightTriggered && !frontTriggered) {
		hDrive(swagSpeed - 0.2, swagSpeed , 0.0);
	} else if (frontTriggered && !rightTriggered & !leftTriggered){
		hDrive(-swagSpeed, 0.0, 0.0);
		delay(50);

	// }
	
	while(!foundFlame && digitalRead(flame_sensor)) {
		// naviguessMaze(0.3);
		followWall(3);
	}
	
	foundFlame = true;
