What have you found to be the right time and throttle

[DominickC]

If you can, take a look at the rangefinder from the KOP. Wire it to function as a digital device, and connect it to the Digital Sidecar. Make sure it's mounted higher than the fender, so you can tell how far from the wall you are. From there, you can set your robot to drive at x speed until the rangefinder reads y distance. (Y distance being the distance the edge of the fender is from the actual wall, plus an inch or so).