gistfile1.py

   def pos_tracker(self, t_speed, r_speed):
      
      delta_th = r_speed*12
      self.theta = self.theta + delta_th
      theta_rad = (self.theta * math.pi)/180 #convert to radians
      
      delta_r = t_speed*math.cos(delta_th) #change in rotation
      delta_x = delta_r * math.cos(theta_rad) #change in x
      delta_y = delta_r * math.sin(theta_rad) #change in y
      
      self.total_x = self.total_x + delta_x
      self.total_y = self.total_y + delta_y
      self.total_x = round(self.total_x, 3)
      self.total_y = round(self.total_y, 3)
      
      lastItem = []
      positionsLength = len(self.positions)
      if (positionsLength > 0):
        lastItem = self.positions[positionsLength-1]
      #if the last stored item minus the new x and y is noticeable value store it
        if (abs(self.total_x)-abs(lastItem[0]) > 1.0 or abs(self.total_y)-abs(lastItem[1]) > 1.0) and (self.total_x != lastItem[0] and self.total_y != lastItem[1]):
          self.positions.append([round(self.total_x, 3), round(self.total_y, 3), delta_r])
          print round(self.total_x, 3), round(self.total_y, 3), delta_r
          print lastItem[0], lastItem[1], lastItem[2]
      else:
        self.positions.append([self.total_x, self.total_y, delta_r])