def destinationInput(repeat=False):
    if (repeat == True):
        play('voiceCommands/sorryPleaseRepeat.wav')
    else:
        play('voiceCommands/destinationInputPrompt.wav')
    destination = recognizeSpeech('location')
    if isLegalNode(destination):
        return destination
    else:
        return destinationInput(True)
def destinationInput(repeat=False):
    if (repeat == True):
        play('voiceCommands/sorryPleaseRepeat.wav')
    else:
        play('voiceCommands/destinationInputPrompt.wav')
    destination = recognizeSpeech('location')
    if isLegalNode(destination):
        return destination
    else:
        return destinationInput(True)