> Can also put two distance sensors on and fet the angle using some trig. That is exactly what I was planning to do next. I realized that when the angle was g

> Can also put two distance sensors on and fet the angle using some trig. That is exactly what I was planning to do next. I realized that when the angle was greater, it would see the distance to the wall as higher than it really is, because of trigonometry. And that is a positive feedback loop which makes it worse. (I just realized that is only true when it headed towards the wall at an angle, but is the opposite when heading away from the wall at an angle. It reacts later (steer right) when it's angle towards the wall, but it should react sooner (steer left) when it's angled away from the wall... hmm...) Getting the angle, I could set a target angle and distance together, and steer as needed.