[nileshp87]

Yeah so we realized those problems and when we wrote the pseudo code we have stuff to compensate.

Let front ultrasonic sensor be a, right sensor be b, rear c, right d.

Since each half of the field is a square, a+c+length=b+d+width

Can be used to validate our data. Accelerometer is used whenever the data from the ultrasonics is invalid.

Similarly, when that is true the robot angle is equal to 90-arcsin(27/(a+c))

I imagine it like having your eyes closes and navigating. Whenever the data validates it is like opening your eyes for a second.