diff --git a/source/Concept/Framework/modules/interpreter/position_tracker.c b/source/Concept/Framework/modules/interpreter/position_tracker.c
index 57a6ba7..63a7f5f 100755
--- a/source/Concept/Framework/modules/interpreter/position_tracker.c
+++ b/source/Concept/Framework/modules/interpreter/position_tracker.c
@@ -34,17 +34,17 @@ void Position_Tracker::Update()
 		movementRightY = 0;
 	}
 
-	float movementDifferenceX = movementRightX - movementLeftX;
+	float movementDifferenceX = (movementRightX + mouseRight->GetPositionX()) - (movementLeftX + mouseLeft->GetPositionX());
 	float movementDifferenceY = (movementRightY + mouseRight->GetPositionY()) - (movementLeftY + mouseLeft->GetPositionY());
 
+	float orientationDiff = atan2(movementDifferenceY, movementDifferenceX) - (PI / 2.0f);
+
 	float robotMovementX = movementDifferenceX / 2.0f;
 	float robotMovementY = movementDifferenceY / 2.0f;
-	robotMovementX += movementLeftX;
-	robotMovementY += movementLeftY + mouseLeft->GetPositionY();
+	robotMovementX += movementLeftX + mouseLeft->GetPositionX() + (-mouseLeft->GetPositionX() * cos(orientationDiff));
+	robotMovementY += movementLeftY + mouseLeft->GetPositionY() + (-mouseLeft->GetPositionX() * sin(orientationDiff));
 	//float robotDistance = sqrt(robotMovementX * robotMovementX + robotMovementY * robotMovementY);
 
-	float orientationDiff = atan2(movementDifferenceY, movementDifferenceX) - (PI / 2.0f);
-
 	float absoluteDiffX = cos(this->orientation + (orientationDiff / 2.0f)) * robotMovementX - sin(this->orientation + (orientationDiff / 2.0f)) * robotMovementY;
 	float absoluteDiffY	= sin(this->orientation + (orientationDiff / 2.0f) + PI / 2.0f) * robotMovementY + cos(this->orientation + (orientationDiff / 2.0f) - PI / 2.0f) * robotMovementX;