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Sound travels around 330m/s, so for every millisecond it travels around 33cms (1 foot).
The object is to get the sound from each speaker reaching your ear at the same time. This is more important than most people realise and makes more of a difference to stereo imaging than level differences between the speakers.
If your receiver doesn't allow you to enter the speaker distances directly then you'll have to work out the delays yourself. The speaker furthest away will have no delay, any speakers nearer than this will be delayed 1ms per foot or 33cm.
To take an example, say your left speaker was 10 feet away, your right speaker was 9 feet away and your centre was 6 feet away. These would be delayed:
left - 0ms
right - (10ft - 9ft) 1ms
centre - (10ft - 6ft) 4ms
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