You actually declared ax and ay as floats, so I made that change (to floats) in my source and still got a clean compile in a plain-vanilla Arduino IDE. I must verify my math among other things. Eighteen Hints to Reduce Code Size 1. Float and double are the same on AVRs - they aren't on the Due and some other fancier microcontrollers, but they are for AVRs. Therefore you need 4 bytes in your array to store each float. Compile with full size optimization. My motor controller has 4 pins that give a 0-5V output depending on the current the 4 motors draw (5V = 5A). On the Arduino Due and SAMD based boards (like MKR1000 and Zero), an int stores a 32-bit (4-byte) value. I could probably modify it if I just knew where 'rounding' is located. ... An example can be found in one of the DHT22 sensor libraries to disable the code that returns float values. That code works. 5. 2. On the Uno and other ATMEGA based boards, this occupies 4 bytes. Has anyone else solved this problem? float introduces a rounding problem. Make an Arduino Sketch Smaller: If you've every hit that 32,256 byte maximum on an Arduino Uno and wondered if you could make your sketch smaller instead of upgrading to a Mega, this is for you! The monitor won't display more than 2 decimal places when reading a float var. 3. I assume it is rounding. The reason that Serial.print(float) is able to print the floating point is because Arduino painfully and tediously implemented the Serial.print() function (the source code can be viewed at ArduinoCore-avr github page, it is almost like a hack) to support the floating point print. I've searched Arduino.cc, the forum, googled it and can't find anything. Use the smallest applicable data type. Collect non-local data in structures whenever natural. This yields a range of -32,768 to 32,767 (minimum value of -2^15 and a maximum value of (2^15) - 1). Unless you ditch the whole Arduino part and go bare metal AVR with a C compiler, then the code is fine. Use local variables whenever possible. 4. Double precision floating point number. float is CPU/RAM intensive IMHO In many Arduino projects there is plenty of CPU/RAM left so I don't think this is a real issue. Arduino CNC Shield – 100% GRBL Compatable; Programming hundreds of Arduino Minions in one go; Can-Bus Breakout (Picking Can Bus over RS485) DIY Robot Arm by UFactory; Arduino Web Dashboard without the need of web-server; Arduino Float to String (That actually works) SparqEE CELLv1.0: Cellular made easy (Arduino/Pi/+) To prove this point look at how many Arduino projects contain a delay(x00) in the loop; so if things go to slow simply decrease this number to release some CPU cycles ;-). That is, the double implementation is exactly the same as the float… So I wrote some code to sent the values to the serial monitor and I'm having some problems. 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