diff --git a/src/odometry.py b/src/odometry.py
index f3dce02..d151c48 100644
--- a/src/odometry.py
+++ b/src/odometry.py
@@ -67,13 +67,14 @@ class Odometry:
         self._distance[0] = ticks_wheel[0] * self._distance_per_tick
         self._distance[1] = ticks_wheel[1] * self._distance_per_tick
         self._v_length = self._v_length + (self._distance[0] + self._distance[1])/2
-        self._v_angle = self._v_angle + (ticks_wheel[0] - ticks_wheel[1])/self._wheel_axis
+        self._v_angle = self._v_angle + (self._distance[0] - self._distance[1])/self._wheel_axis
         self.coordinates_update()
+        self._wheel_center = self._distance[0] + self._distance[1])/2
         print((self._v_length, angle2dir(self._v_angle)))
 
     def coordinates_update(self):  # worked as function outside the class
-        self._posxy[0] = self._posxy[0] + self._v_length * math.sin(self._v_angle)
-        self._posxy[1] = self._posxy[1] + self._v_length * math.cos(self._v_angle)
+        self._posxy[0] = self._posxy[0] + self._wheel_center * math.sin(self._v_angle)
+        self._posxy[1] = self._posxy[1] + self._wheel_center * math.cos(self._v_angle)
         print((self._posxy[0], self._posxy[1]))
 
     def dir2ticks(self, destdir):  # return amount of ticks to turn to a given direction (current direction should be _v_angle)