   mazeNav();
   extinguishFire();
   delay(100);
-
-  if (detectFire()){
-    digitalWrite(FLAME_LED, HIGH);
-  } else {
-    digitalWrite(FLAME_LED, LOW);
-  }
   
   if (usingCamera()){
     digitalWrite(CAMERA_LED, HIGH);

#define FRONT_US_TRIG   3
#define LEFT_US_ECHO   18
#define LEFT_US_TRIG   19

Servo leftServo;
Servo rightServo;


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

void moveForward() {
  leftServo.write(180);
