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To anyone that still cares about my original post:
I asked my math teacher how to figure distance based on a single angle. I found that to be impossible. Howver, if I read from the first sensor switch to on, then at the sensor switch to off, and move foward on the half angle an alotted distance, the process can be simplified. After moving foward an alotted distance, I take two more readings and parts of the imaginary triangles are revealed using law of sin and other stuff. This is necessary for the distance you want to travel to the boxes only if you want to pick them up.
Anyway, if you want an expanded explanatyion, just post and ask for it.
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