 Servo rightServo;
 Servo extinguisher;
 
-Ultrasonic frontUltrasonic(FRONT_US_ECHO, FRONT_US_TRIG, true);
-Ultrasonic leftUltrasonic(LEFT_US_ECHO, LEFT_US_TRIG, true);
-Ultrasonic rightUltrasonic(RIGHT_US_ECHO, RIGHT_US_TRIG, true);
+Ultrasonic frontLeftUltrasonic(F_L_ECHO, F_L_TRIG, true);
+Ultrasonic frontRightUltrasonic(F_R_ECHO, F_R_TRIG, true);
+Ultrasonic leftUltrasonic(L_ECHO, L_TRIG, true);
+Ultrasonic rightUltrasonic(R_ECHO, R_TRIG, true);
+Ultrasonic backUltrasonic(B_ECHO, B_TRIG, true);
 
 bool checkingMicrophone = true;
 bool hearingStartSound = false;

#define CAMERA 15
#define CAMERA_LED 16

#define FRONT_US_ECHO   2
#define FRONT_US_TRIG   3
#define LEFT_US_ECHO   18
#define LEFT_US_TRIG   19
#define RIGHT_US_ECHO  20
#define RIGHT_US_TRIG 21

// Bounds for start sound frequency:
#define LOW_START 3306

}

void mazeNav() { //MOVE MY MINION
  if(frontLeftUltrasonic.getDistance() < 2 && leftUltrasonic.getDistance() < 2){ //robot has wall in front and to left
    moveRight();
    delay(500);
  }
  else if(frontLeftUltrasonic.getDistance() < 2 && leftUltrasonic.getDistance() >= 2){ //robot has wall in front
    moveLeft();
    delay(500);
  }
  else{ //if(frontLeftUltrasonic.getDistance() >=2 && leftUltrasonic.getDistance() <2), or if (frontLeftUltrasonic.getDistance() >= 2 && leftUltrasonic.getDistance() >= 2): hug the left wall
    moveForward();
    delay(500);
  }
