Distance of an object is equal to half the time it takes to return multiplied by the speed of sound at standard temperature and pressure which is 34400 centimeters per second

((tof / 2.0) * 34400.00)=distance is centimeters

Current rating of motor 90 watts divided by 12 volts is equal to 7.5 amps

Total battery life equals percent duty cycle times full current plus other devices current consumption. Devided by a total power of 14 amp hours.

At FULL speed (0.50 duty cycle * 7.5 Ah) + 0.09 Ah(cordless phone) + 0.1Ah

(sonar turret) + 0.1Ah(sonar power) + .25Ah(board power) +

0.001 minutes longitude & latitude = aproximately 2.5 meters = minimum resolution