 #define CAMERA 15
 #define CAMERA_LED 16
 
-#define FRONT_US_ECHO   2
-#define FRONT_US_TRIG   3
-#define LEFT_US_ECHO   18
-#define LEFT_US_TRIG   19
-#define RIGHT_US_ECHO  20
-#define RIGHT_US_TRIG 21
+//Ultrasonic Trigger and Echo pins (30-39)
+#define F_L_ECHO  30  //Front-left Ultrasonic
+#define F_L_TRIG  31
+#define F_R_ECHO  32  //Front-right Ultrasonic
+#define F_R_TRIG  33
+#define R_ECHO  34  //Right Ultrasonic
+#define R_TRIG  35
+#define B_ECHO  36  //Back Ultrasonic
+#define B_TRIG  37
+#define L_ECHO  38  //Left Ultrasonic
+#define L_TRIG  39
 
 // Bounds for start sound frequency:
 #define LOW_START 3306

Servo rightServo;
Servo extinguisher;

Ultrasonic frontUltrasonic(FRONT_US_ECHO, FRONT_US_TRIG, true);
Ultrasonic leftUltrasonic(LEFT_US_ECHO, LEFT_US_TRIG, true);
Ultrasonic rightUltrasonic(RIGHT_US_ECHO, RIGHT_US_TRIG, true);

bool checkingMicrophone = true;
bool hearingStartSound = false;

}

void mazeNav() { //MOVE MY MINION
  if(frontLeftUltrasonic.getDistance() < 2 && leftUltrasonic.getDistance() < 2){ //robot has wall in front and to left
    moveRight();
    delay(500);
  }
  else if(frontLeftUltrasonic.getDistance() < 2 && leftUltrasonic.getDistance() >= 2){ //robot has wall in front
    moveLeft();
    delay(500);
  }
  else{ //if(frontLeftUltrasonic.getDistance() >=2 && leftUltrasonic.getDistance() <2), or if (frontLeftUltrasonic.getDistance() >= 2 && leftUltrasonic.getDistance() >= 2): hug the left wall
    moveForward();
    delay(500);
  }
