   else followdirection = followdirection;
 }
 
-while(followdirection >= 7) 
+while(followdirection >= 7)
 {
   if (frontultrasonic.getdistance() > closeToWall && lefttultrasonic.getdistance() < closeToWall)
   {
-    moveslightright();
+    moveSlightRight();
     delay(500);    //move left diagnal
-    moveslightleft().wait(leftultrasonic.getdistance() < closeToWall);
+    moveSlightLeft().wait(leftultrasonic.getdistance() < closeToWall);
     delay(500);
   }
-  
+
   else if (leftultrasonic.getdistance() > 2)
   {
     moveright();    //if there is no left wall turn left


}

while(followdirection >= 9) 
{
  if (frontultrasonic.getdistance() > closeToWall && lefttultrasonic.getdistance() < closeToWall)
  {
    moveslightright();
    delay(500);    //move left diagnal
    moveslightleft().wait(leftultrasonic.getdistance() < closeToWall);
    delay(500);
  }
  
  else if (leftultrasonic.getdistance() > 2 && frontultrasonic.getdistance() > 2)
  {
    turn(90);    
    delay(500);
    followdirection = followdirection + 1;
  }
  else if (leftultrasonic.getdistance() < 2 && frontultrasonic.getdistance() < 2)
  {
    turn(-90);   
    delay(500);
    followdirection = followdirection + 1;
  }
}

  

{
  void lowerRightRoom(){
  turn(0); //turn(0) is a way to reset gyro measurements

  turn(-20); //turn the robot 45, but since it's so close to the wall, this needs to happen gradually
  moveForward();
  delay(1000);
