Is doing what's right ,or bing nice, suppose to make you fell horrible?

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I have this guy in my life that every time I try to do what is right/nice, he always has a comment to make. For instance, I am a good cook. Lots of people compliment me on my cooking as great. When I cook for him, he is so negative. Not done enough! To soft! It's mushy! Do it this way next time! Then when I start cooking, he has to stand over my shoulder and asking me why I'm doing it that way. Telling me to do it this way. I tell him to do it himself if he doesn't like it my way. He gets mad at me. He expects me to do his laundry his way treating me as if I don't know how to cook, or do laundry. Tonight, July 14th, I went to help him pick up his car. It was at a Firestone 25 minutes from my home. He told me at 5:00pm, before leaving the parking lot that he (being he is a counselor) had to be back at the office for a 5:30pm client. I was to just take the car and go to my place, only 15 minutes from his office and wait till he was done for him to come back around 7 so I could help him get is car home. Being that I don't have a cell phone at this time, he stuck his hand out the window and I was not sure what he was trying to do. He exited off at an earlier exit sticking his had out like he was waving. I went to the next exit that was to get me to my apartment. I was home at 5:40pm. This guy called me screaming in my ear, "Where were you? I exited off to get a bite to eat at Braums cause my client called and was going to be a half hour late! You were to follow me! Now you missed out on dinner!" I told him that was not what we talked about when leaving Firestone and that he had a 5:30. He jumped on me for that. Then said, at least the car is back okay!" But you, stupid still missed out on dinner! GOTTA GO!" Then hung up on me. Made me feel my doing something right was wrong. I try to be nice to him by cooking, doing his laundry and letting him shower her as he can not afford to get his pipes at his home fixed leaving him with no water. I even let him take time to use my computer and he treats me like I don't do anything right. At times he says I'm stupid. He even calls me stupid when I am folding his socks and one falls on the floor by accident. I get chewed out for that. So, why is it every time I do something right or try to be nice that I'm suppose to get treated horribly? Feel as if I never get any appreciation for the good things or even for trying. Anyone have this problem and want to share or even help me figure out what to do in this situation? Thank you.