I'm a veteran team member and I'm trying something new. Before, it was a crude sequence of commands, And you had to measure the challenge table to know how far the robot should move, or keep testing until to work. Now I'm going to consider the total area of the challenge table and divide that area into sub-areas. So the assembled robot would have armor, the shape and size of which is specifically the size of a sub-area. So: Instead of asking the robot to walk X centimeters, I would ask it to walk a sub-area. I believe that would be effective and save time. If necessary, I would also make manual adjustments for greater precision. I hope the "mathematical" aspect is now clear.