Ok, sorry for all of the messages, but I started to read even more on odometry in the vex forum, and it seams like I am calculating the y values wrong. Here is a desmos graph explaining the math I believed I was using - Odometry | Desmos. I found it from this post - Odometry Code? - #21 by iseau395. In this desmos graph to find y you need to do sin (theta + pi/2) * difference between left and right wheel position. However now I am confused because what I thought was that I had the length of the hypotenuse and to find the length of the opposite and adjacent sides of the triangle, or the x and y position I just use cosine and sine like I explained 3 posts above.