 {
   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);

  turn(-25);

  moveForward(diagonalMove);
  
  turn(0);
  turn(-90);
  delay(1000);  //see if there's fire in the upper corner

followdirection = 0; //left follow or right follow
lowerleftroomdistance = 10; //distance to activate Rick's Code

while(followdirection < 7)
{
  if (frontultrasonic.getdistance() > 2 && rightultrasonic.getdistance() < 2)
  {
    moveSlightLeft();
    delay(500);         //move left diagnal
    moveSlightRight().wait(rightultrasonic.getdistance() < 2);
    delay(500);    //move diagnol towards the wall until your close to the wall
  }

