can anyone make a better illustration

So, I finally made a page that wasn't just for my robots. However, as you can see, my drawing skills need a lot of work. Does anyone who can draw want to try to make a better picture? Also, is my description understandable? Finally, I assumed that Combat uses this, but it might be a little different if MN wants to check it over to make sure it is correct.

It´s exactly that. But "the angle most nearly perpendicular to the bearing from robot B to robot A which robot A can move at without hitting any walls" is a bit confuse. Maybe "The angle which gives the widest MEA without hitting any walls".

And a screenshot using graphical debugging would do a better job as illustration.

I have no idea what it is describing so I cannot really make a better image.