Arduino go-goal robot angular position calculation -


i'm making differential drive robot needs go (0,0,90)to(100,180,90)with coordinates being x,y,phi. try position robot on trajectory intercepts goal.

for need position of robot:

    float vr = 0.0; float vl = 0.0; float omega = 0.0; float r = 0.0;    vr = (d / 2.0)*(2.0*pi / 200.0)*((float)right_delta * step_distance); vl = (d / 2.0)*(2.0*pi / 200.0)*((float)left_delta * step_distance);   r = l*((vl + vr) / (vr - vl)); omega = (vr - vl) / (2.0*l);  if (fabs(r) > 10000.0) {       x_pos += (vr*step_distance)*cosf(theta);     y_pos += (vr*step_distance)*sinf(theta); } else {       x_pos += cosf(omega)*r*sinf(theta) + sinf(omega)*r*cosf(theta) - r*sinf(theta);     y_pos += sinf(omega)*r*sinf(theta) - cosf(omega)*r*cosf(theta) + r*cosf(theta);     theta += omega; }

when try y_pos , theta off...what causing this


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