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I'm coding a controller for a two wheeled robot whos speed and angle is determined by the velocity of it's two wheels.

The problem is, my code does calculations using speed (mm/s) and angle (radians).

So I need someway of converting that speed and angle into the velocity of the two wheels of the robot.

It sounds really simple but I just can't work out what the exact forumla is.

Any clues?

Thanks!

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# Translating velocity and angle into wheel speed (for a two wheel robot)

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