 #define PRINT_RAW
 //define PRINT_SPEED 250 
 #define DECLINATION -12 
+
+bool isLevel(float pitch, float roll);
+int quadCheck(bool level, Ultrasonic us1, Ultrasonic us2);
+int obstacleCheck(Ultrasonic us3);
 
 void setup() {
 

//Recently commented below
//Serial.print("delta_heading: "); Serial.println(delta_heading);

if(ultrasonic1.Ranging(CM)<= 304.8 && ultrasonic2.Ranging(CM)>= 304.8){ //You are in the grid 
  if(ultrasonic1.Ranging(CM)<= 152.4){ //You are in left-half of grid
    if(ultrasonic2.Ranging(CM) <= 457.2){ //Y is reading from bottom wall 457.2 is 15 ft

int quadColor;
//I commented
//Lawrence Commented

Ultrasonic ultrasonic1(13,12); //X sensor
Ultrasonic ultrasonic2(11,10); //Y Sensor
