Fixing problem with odometrie

driving.py

@@ -78,12 +78,16 @@ class Driving_Analyser:
         
         if w != 0 or v != 0:
             theta = self.theta_old + (w * time_delta)
-            y = self.y_old + (v * (-np.cos(theta) / w))
+           #y = self.y_old + (v * ((-np.cos(theta) / w) + 1))
+            if w < 0:
+                y = self.y_old + (v * (-np.cos(theta) / w - 1))
+            else:
+                y = self.y_old + (v * (-np.cos(theta) / w + 1))
             x =  self.x_old + (v * (np.sin(theta) / w))
             
             self.theta_old = theta
-            self.y_old = y
-            self.x_old = x
+            self.y_old = round(y, 5)
+            self.x_old = round(x, 5)
         
         return (self.x_old, self.y_old, self.theta_old)