A new calibration method for a spectrophotometer or a color sensor is provided using multiple color tiles with known reflectances. A first semiconductor die is mounted over the carrier between the contact pads of the leadframe. The system provides for storing, accessing, tracking data residing in said one or more data repositories managed by the virtual control repository. This determination may be made directly, either by measuring phase error, or indirectly, by determining if phase error is within one or more ranges of values. The tracking and command system determines paths for the surface-based craft using the identified targets and obstacles and commands the craft using simple movement commands to move through the operational area to the targets while avoiding the obstacles. The shorting terminal mounting portion projects lateral to the lock arm while extending along the surface of the housing.