   }
 
   if(angle > 0){
+    leftMotor.set(-leftSpeed);
+    rightMotor.set(rightSpeed);
+  }else{
     leftMotor.set(leftSpeed);
     rightMotor.set(-rightSpeed);
-  }else{
-    leftMotor.set(-leftSpeed);
-    rightMotor.set(rightSpeed);
   }
 
   while(abs(getGyroAngle() - gyroTargetAngle) > angleThreshold){
     Serial.println(String(getGyroAngle()));
-    delay(25);
+    delay(5);
   }
 
   stopRobot();

    FreqCount.begin(200); // Begin measuring sound
    checkMicrophone();  //robot stays in setup until frequency is heard

    moveForward(36);
  }
}


float gyroTargetAngle = 0;

float angleThreshold = 3;
float driftAngle = 30;

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