The nice thing about its navigation program is that it self-corrects itself. Cumulative errors (small errors that make a big impact over time) is not an issue with this robot. To make precise turns, its robot first spins around in a circle (it is smart enough to know if it is shorter to turn clockwise or counterclockwise) and then aligns itself to the desired angle with a tolerance of plus or minus 5 degrees. It then makes a smaller angle adjustment with a smaller tolerance of only plus or minus 1 degree. The ultrasonic sensor then detects how far the robot is from the wall ahead, and the robot then drives toward the next destination. Using this method, the robot can drive very accurately despite the moon rocks or regolith in the craters.