So I have a robot, and I am trying to push an object into a red border without falling off the edge. the border is 100mm thick, the whitespace in between the 4 borders in the square is 2000x2000mm, and the total dimensions of the board are 2200x2200. I am trying to find an equation I can use for the distance I can go to push the block into the red border without falling off the edge, using the robot's X position, Y position, angle, and the distance from the object.