     gyroTargetAngle = 360 + gyroTargetAngle
   }
   if(gyroTargetAngle < getGyroAngle()){
-    moveLeft();
+    leftServo.write(180);
+    rightServo.write(180);
     while(gyroTargetAngle < getGyroAngle()){
       delay(50);
     }
     stopRobot();
   }else if(gyroTargetAngle > getGyroAngle()){
-    moveRight();
+    leftServo.write(0);
+    rightServo.write(0);
     while(gyroTargetAngle > getGyroAngle()){
       delay(50);
     }

unsigned long freqCount;
double closeToWall = 2;   //defines how close the robot should be (inches) to the wall to register as being "too close"

void moveForward() {
  leftServo.write(180);
  rightServo.write(0);
}

void moveBackward() {
  leftServo.write(0);
  rightServo.write(180);
}

  }

  while(rightUltrasonic.getDistance() > closeToWall){   //roll forward until the first room is encountered, then kick out of function
    rollForward();
  }
}

