matlab arduino serial communicatrion

arduino code
#include <Wire.h>

#include <MPU6050_tockn.h>

MPU6050 mpu6050(Wire);

long timer = 0;

#define ENC_A1  2
#define ENC_B1  3

#define ENC_A2  18
#define ENC_B2  19

// Main loop refresh period.
#define REFRESH_MS  50

// Main serial data connection to computer.
#define BAUD_RATE   9600

// Encoder signal line states
volatile boolean state_a1 = 0;
volatile boolean state_b1 = 0;

// Encoder signal line states
volatile boolean state_a2 = 0;
volatile boolean state_b2 = 0;

// Encoder position
volatile int enc_pos_1 = 0;
int enc_pos_prev_1 = 0;
int enc_pos_change_1 = 0;

volatile int enc_pos_2 = 0;
int enc_pos_prev_2 = 0;
int enc_pos_change_2 = 0;

// normally on a differential drive system to when moving
// forwards the wheels are rotating in opposite directions
int encoder_direction_left = 1;
int encoder_direction_right = 1;

// Timing
unsigned long micros_current = 0;
unsigned long micros_prev = 0;
long micros_change = 0;

int dleft = 0;

int dright = 0;

float pi = 3.142;

float TWOPI = 6.284;

float diameter = 42;                                    //(mm)

int count_per_revolution = 12;                          //(mm)

int Lwheel_c = 140;                                      //(mm)

int Rwheel_c = 139.9;                                       //(mm)

float Rright = 0.00;                                       // radius of curvature of right wheel

float Rleft = 0.00;                                      //Radius of curvature of left wheel

float wheel_Rc = 0.00 ;                                     //Radius of curvature

float wheel_theta = 0.00;

float x_pos= 0.00;

float y_pos = 0.00;

int wheelbase = 88;                                   // wheelbase

void setup() {
    Wire.begin();
    mpu6050.begin();
    mpu6050.calcGyroOffsets(true);
    
    pinMode(ENC_A1, INPUT);
    pinMode(ENC_B1, INPUT); 

    pinMode(ENC_A2, INPUT);
    pinMode(ENC_B2, INPUT); 

    state_a1 = (boolean) digitalRead(ENC_A1);
    state_b1 = (boolean) digitalRead(ENC_B1);

    state_a2 = (boolean) digitalRead(ENC_A2);
    state_b2 = (boolean) digitalRead(ENC_B2);

    attachInterrupt(0, interrupt_enc_a1, CHANGE);
    attachInterrupt(1, interrupt_enc_b1, CHANGE);

    attachInterrupt(5, interrupt_enc_a2, CHANGE);
    attachInterrupt(4, interrupt_enc_b2, CHANGE); 

    micros_prev = micros();

    Serial.begin(BAUD_RATE);
}

void loop() {
   mpu6050.update();

  if(millis() - timer > 1000){
     timer = millis();
  }
    // Calculate elapsed time  
    micros_current = micros();
    if (micros_current < micros_prev) {
        micros_change = micros_current + (4294967295 - micros_prev);
    } else {
        micros_change = micros_current - micros_prev;
    }
      
     // determine how many ticks since our last sampling? 
     
    // Calculate change in encoder1 position.
    enc_pos_change_1 = enc_pos_1 - enc_pos_prev_1;
    //enc_pos_change_1 = abs(enc_pos_change_1);

    // Calculate change in encoder2 position.
    enc_pos_change_2 = enc_pos_2 - enc_pos_prev_2;
    //enc_pos_change_2 = abs(enc_pos_change_2);

    // Emit data
    Serial.print(enc_pos_1);
    Serial.print("\t");
    Serial.print(enc_pos_2);
    Serial.print("\t");
    Serial.print(enc_pos_change_1);
    Serial.print("\t");
    Serial.print(enc_pos_change_2);
    Serial.print("\t");
    //Serial.print(dright);
    //Serial.print("\t");
    //Serial.print(dleft);
    //Serial.print("\t");
    Serial.print(x_pos);
    Serial.print("\t");
    Serial.print(y_pos);
    Serial.print("\t");
    Serial.print(wheel_theta);
    Serial.print("\t");
    Serial.print("angleX : ");Serial.print(mpu6050.getAngleX());
    Serial.print("\tangleY : ");Serial.print(mpu6050.getAngleY());
    Serial.print("\tangleZ : ");Serial.println(mpu6050.getAngleZ());

    // and update last sampling for next time 
   enc_pos_prev_1 = enc_pos_1;

    enc_pos_prev_2 = enc_pos_2;

    micros_prev = micros_current;
    
    // convert longs to floats and ticks to mm 
            //dleft = (enc_pos_change_1) * Lwheel_c/count_per_revolution;

          //dright = (enc_pos_change_2)* Rwheel_c/count_per_revolution;

    dleft = (enc_pos_change_1) * Lwheel_c;

    dright = (enc_pos_change_2)* Rwheel_c;

    // constrain _theta to the range 0 to 2 pi

    //if (theta > 2.0 * pi) 
   // theta -= 2.0 * pi;
   // else if (theta < -2.0*pi)
   // theta += 2.0 * pi;

    // calculate distance we have traveled since last sampling 
    
    wheel_Rc = (dleft + dright)/2;

    // accumulate total rotation around our center 
    wheel_theta += (dleft + dright)/wheelbase;

    //and clip the rotation to plus or minus 360 degrees

    wheel_theta -= (float)((int)(wheel_theta/TWOPI))*TWOPI;
    if (wheel_theta < -PI) { wheel_theta += TWOPI; }
    else { if (wheel_theta > PI) wheel_theta -= TWOPI; }

    x_pos =  x_pos + wheel_Rc * cos(wheel_theta);

    y_pos =  y_pos + wheel_Rc * sin(wheel_theta);

    delay(REFRESH_MS);
}

// Detect pulses from depth encoder.

void interrupt_enc_a1() {
    if (!state_a1) {
        state_b1 ? enc_pos_1++: enc_pos_1--;         
    }
    state_a1 = !state_a1;
}

void interrupt_enc_b1() {
    state_b1 = !state_b1;
}

// Detect pulses from depth encoder.

void interrupt_enc_a2() {
    if (!state_a2) {
        state_b2 ? enc_pos_2++: enc_pos_2--;         
    }
    state_a2 = !state_a2;
}

void interrupt_enc_b2() {
    state_b2 = !state_b2;
}

matlab code below

% Initializing I2C devices...
% Testing device connections...
% MPU6050 connection failed
% Send any character to begin DMP programming and demo: 
% Initializing DMP...
% Enabling DMP...
% Enabling interrupt detection (Arduino external interrupt 0)...
% DMP ready! Waiting for first interrupt...
 
 
%while (1)
delete(instrfindall);
warning off
s = serial('COM3','Baudrate',9600,'DataBits',8, 'Terminator','CR/LF');
fclose(s);
warning off;
% warning('off','MATLAB:serial:fscanf:unsuccesfulRead');
fopen(s);
%fclose(s);
tic
while(toc<2)
data = fscanf(s, '%s') %,'X=%f, Y=%f, Yaw=%f')
end
 
fprintf(s,'a1231');

while(toc<600)
data = fscanf(s, '%s') %,'X=%f, Y=%f, Yaw=%f')
end
 
matlab output
data =

    '00000.000.000.00angleX:6.00angleY:3.24angleZ:-0.47'


data =

    '00000.000.000.00angleX:6.00angleY:3.29angleZ:-0.47'


data =

    '00000.000.000.00angleX:6.00angleY:3.26angleZ:-0.48'
    
    arduino output which is supposed to be matlab output aswell
    0	0	0	0	0.00	0.00	0.00	angleX : 6.76	angleY : 2.74	angleZ : 0.41
0	0	0	0	0.00	0.00	0.00	angleX : 6.74	angleY : 2.78	angleZ : 0.43
0	0	0	0	0.00	0.00	0.00	angleX : 6.71	angleY : 2.76	angleZ : 0.43
0	0	0	0	0.00	0.00	0.00	angleX : 6.72	angleY : 2.77	angleZ : 0.43

The result obtained from matlab from angglex is not the true reflection of what am expected or what i have from my arduino code output. pls can someone help me find out what the problem is one my codes.