 double closeToWall = 2;   //defines how close the robot should be (inches) to the wall to register as being "too close"
 
 void rollForward() {
-  leftMotor.set(0.5);
-  rightMotor.set(0.5);
+  leftMotor.set(leftSpeed);
+  rightMotor.set(rightSpeed);
 }
 
 void rollBackward() {
-  leftMotor.set(-0.5);
-  rightMotor.set(-0.5);
+  leftMotor.set(-leftSpeed);
+  rightMotor.set(-rightSpeed);
 }
 
 void moveSlightLeft() {
-  leftMotor.set(0.25);
-  rightMotor.set(0.375);
+  leftMotor.set(leftSpeed/2);
+  rightMotor.set(rightSpeed*.75);
   delay(100);
   stopRobot();
 }
 
 void moveSlightRight() {
-  leftMotor.set(0.375); //Half power plus additional 25
-  rightMotor.set(0.25);
+  leftMotor.set(leftSpeed*.75); //Half power plus additional 25
+  rightMotor.set(rightSpeed/2);
   delay(100);
   stopRobot();
 }

    gyroTargetAngle = 360 + gyroTargetAngle;
  }
  if(gyroTargetAngle < getGyroAngle()){
    leftMotor.set(0.5);
    rightMotor.set(0.5);
    while(gyroTargetAngle < getGyroAngle()){
      delay(50);
    }

Motor rightMotor(RIGHT_MOTOR_1,RIGHT_MOTOR_2);
Servo extinguisher;

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

//Ultrasonic frontLeftUltrasonic(F_L_ECHO, F_L_TRIG, true);
Ultrasonic frontRightUltrasonic(F_R_ECHO, F_R_TRIG, true);
Ultrasonic leftUltrasonic(L_ECHO, L_TRIG, true);
