   if(!dog1){
     moveForward(3);
     rollForward();
-    while(frontRightUltrasonic.getDistance() > closeToWall && RightUltrasonic.getDistance() < closeToWall){
+    while(frontRightUltrasonic.getDistance() > closeToWall && rightUltrasonic.getDistance() < closeToWall){
       delay(50);
     }
     stopRobot();

    turn(90); //turn downward
    moveForward(36);  //move down past upperRightRoom
    turn(90); //turn left
    moveFoward(60); //move back into position for lowerRightRoom
    turn(-90);
    rollForward();
    while(rightUltrasonic.getDistance() < closeToWall) {

    stopRobot();
    moveForward(3);
    turn(-90);
  }
}

