 
     while(frontRightUltrasonic.getDistance() > closeToWall){ //roll forward until the robot gets close to the lower wall
       rollForward();
+      delay(50);
     }
     stopRobot();
 
     turn(-90);  //turn right towards the exit of the room
-    //moveForward(lateralMove); //see above
+    moveForward(lateralMove);
     turn(0);
 
   }

  upperRightRoom();
  secondDogCheck();

  if(dog2){
    //turn around and get to the lower right room the long way
  } else {
    //proceed forward and get to the lower right room the short way
  }

  while(followDirection == 8)
  {
    //void lowerRightRoom(){

    turn(-45);

    moveForward(diagonalMove);

    turn(-90);
    delay(1000);  //see if there's fire in the upper corner
