     }
     delay(100);
   }
-  int detectSound(){return 0;}
+  int detectSound(){return 0;} //these three lines are giving compiler errors
   int detectBaby(){return 0;}
   int usingCamera(){return 0;)
 }
 
+void mazeNav() { //MOVE MY MINION
+  if(frontUltrasonic < 2 && leftUltrasonic < 2){ //robot has wall in front and to left
+    moveRight();
+    delay(500);
+  }
+  else if(frontUltrasonic < 2 && leftUltrasonic >= 2){ //robot has wall in front
+    moveLeft();
+    delay(500);
+  }
+  else{ //if(frontUltrasonic >=2 && leftUltrasonic <2), or if (frontUltrasonic >= 2 && leftUltrasonic >= 2): hug the left wall
+    moveForward();
+    delay(500);
+  }
+}
 
 void setup() {
   // put your setup code here, to run once:

  pinMode(MIC_PIN, INPUT);
  pinMode(MIC_LED, OUTPUT);
  
  pinMode(BABY_LED, OUTPT);
  
  pinMode(CAMERA_LED, OUTPUT);
}

void loop() {
// put your main code here, to run repeatedly:
  
  mazeNav();
  extinguishFire();
  delay(100);

  if (detectfire()){
