The SONARs respond within a few milliseconds of each trigger. At 1100 feet per second the SONAR hears an echo from a wall five feet away in less than ten msec. There may be problems with the shape of the response pattern and how the ultra sound wave bounces back from a glancing blow. I have no technical means to evaluate that effect.

To figure attack angle I need to have a function that returns the angle given the ratio of the two sides of a triangle, the inverse tangent. I do not see that in PICBASIC PRO. It would be nice in degrees, -90 to 90. With this information I could more intelligently tell the car to turn hard or not-so-hard. It might minimize the weaving down the straightaway.

Calculating velocity would be nice. Without a gauge on the wheels themselves, the only means I know is to divide distance traveled by time. How to get these accurately is iffy in my head.

Gotta do some thinking and experimenting.

Ken