*6.4.2 Software*

The software design process also had problems along the way which required solving.

The ultrasonic sensors in front of the vehicle required advanced mathematical formulae to be accurate at all distances, which would take time to complete, whereas using much a simpler formula would only mean they were accurate up to 50 cm as opposed to 5 m. This in the end was chosen as the vehicle only needs to be able to stop within 50 cm of an object, and anything beyond that distance cannot be considered an object in the vehicle's path. A useful add-on to develop the device further would be to utilise this functionality correctly for all distances. However, for the purpose of the current project, it was not viewed as critical.
