Answer:
Taxable Income = pretax accounting income + warranty expense + depreciation expense - warranty costs were incurred - MACRS depreciation
Taxable Income = 80 + 7 + 20 - 2 - 35
Taxable Income = $ 70
Centipede's income tax payable = Taxable Income multiply tax rate
Centipede's income tax payable = 70 multiply 40%
Centipede's income tax payable = $ 28 Million
Note: I have assumed that tax rate is 40%