   {
     moveSlightLeft();
     delay(500);         //move left diagnal
-    moveSlightRight().wait(rightUltrasonic.getDistance() < closeToWall);
+    while(rightUltrasonic.getDistance() > closeToWall) {
+      moveSlightRight();
+    }
     delay(500);    //move diagnol towards the wall until your close to the wall
   }
 

  {
    moveSlightRight();
    delay(500);    //move left diagnal
    moveSlightLeft().wait(leftUltrasonic.getDistance() < closeToWall);
    delay(500);
  }


  {
    moveSlightRight();
    delay(500);    //move left diagnal
    while(leftUltrasonic.getDistance() < closeToWall){
      moveSlightLeft();
    }
    delay(500);
  }

