Wheel Speed Calculations

gistfile1.txt

 # Calculate wheel speeds in m/s
    #reference https://snapcraft.io/blog/your-first-robot-the-driver-4-5
    left_wheel_vel = data.linear.x - ((data.angular.z * wheel_base) / 2.0)
    right_wheel_vel = data.linear.x + ((data.angular.z * wheel_base) / 2.0)


    # convert the required wheel speeds in m/s into rpms
    c = math.pi * wheel_diameter  # wheel circumference in meters
    right_rpm = int((right_wheel_vel / c) * 60.0 * gear_ratio)
    left_rpm = int((left_wheel_vel / c) * 60.0 * gear_ratio)