       delay(500);         // move left diagonal
       while(rightUltrasonic.getDistance() > closeToWall) {
         moveSlightRight();
+        delay(50);
       }
       delay(500);    // move diagnol towards the wall until your close to the wall
     }

      stopRobot();
      delay(500);
    }
  }
}


  double lateralMove = 5; //how far the robot should move to exit the lower right room

  upperRightRoom();
  if(!dog1){
    secondDogCheck();
  }

  if(dog2){
    //turn around and get to the lower right room the long way
