I figured out how to track a robot’s orientation regardless of position or how many turns it has done. This is based on the fact that orientation is entirely dependent on how far the wheels have turned. When the distance is equal, the orientation is the same as the start. when the distance is different, we can observe and measure a the degree to which the difference has affected orientation by factoring in the track (distance between wheels, also radius of the curved path). Using this information, I built some pseudo code that should provide the ability to estimate position with an unknown accuracy.