     stopRobot();
     moveForward(3);
     turn(-90);
-    while
   }
 }
 

    turn(90); //turn downward
    moveForward(36);  //move down past upperRightRoom
    turn(90); //turn left
    moveFoward(60); //move back into position for lowerRightRoom
    turn(-90);
    rollForward();
    while(rightUltrasonic.getDistance() < closeToWall) {

  if(!dog1){
    moveForward(3);
    rollForward();
    while(frontRightUltrasonic.getDistance() > closeToWall && rightUltrasonic.getDistance() < closeToWall){
      delay(50);
    }
    stopRobot();
