W 0.18 m <- Insert wheel base.

T 0.14 m <- Insert tread.

Degrees rad r2 r1 r3 r1/r3*100

0 0 100
1 0.017 10.031 9.961 10.101 99
2 0.035 5.014 4.944 5.084 97
3 0.052 3.341 3.271 3.411 96
4 0.070 2.504 2.434 2.574 95
5 0.087 2.001 1.931 2.071 93
6 0.105 1.666 1.596 1.736 92
7 0.122 1.426 1.356 1.496 91
8 0.140 1.246 1.176 1.316 89
9 0.157 1.105 1.035 1.175 88
10 0.174 0.993 0.923 1.063 87
11 0.192 0.901 0.831 0.971 86
12 0.209 0.824 0.754 0.894 84
13 0.227 0.758 0.688 0.828 83
14 0.244 0.702 0.632 0.772 82
15 0.262 0.653 0.583 0.723 81
16 0.279 0.611 0.541 0.681 79
17 0.297 0.573 0.503 0.643 78
18 0.314 0.539 0.469 0.609 77
19 0.331 0.509 0.439 0.579 76
20 0.349 0.481 0.411 0.551 75
21 0.366 0.456 0.386 0.526 73
22 0.384 0.433 0.363 0.503 72
23 0.401 0.413 0.343 0.483 71
24 0.419 0.393 0.323 0.463 70
25 0.436 0.376 0.306 0.446 69
26 0.454 0.359 0.289 0.429 67
27 0.471 0.344 0.274 0.414 66
28 0.488 0.329 0.259 0.399 65
29 0.506 0.316 0.246 0.386 64
30 0.523 0.303 0.233 0.373 62
31 0.541 0.291 0.221 0.361 61
32 0.558 0.280 0.210 0.350 60
33 0.576 0.270 0.200 0.340 59
34 0.593 0.260 0.190 0.330 58
35 0.611 0.250 0.180 0.320 56
36 0.628 0.241 0.171 0.311 55
37 0.645 0.232 0.162 0.302 54
38 0.663 0.224 0.154 0.294 52
39 0.680 0.216 0.146 0.286 51
40 0.698 0.209 0.139 0.279 50
41 0.715 0.201 0.131 0.271 48
42 0.733 0.195 0.125 0.265 47
43 0.750 0.188 0.118 0.258 46
44 0.768 0.181 0.111 0.251 44
45 0.785 0.175 0.105 0.245 43
Insert steering angle. 15
Insert outer wheel rim speed. 50

Inner wheel speed(auto-calculate). 40

Example program
handle( 15 )
speed(50,40)
<- -90 to 90
<- 0 tot100
const revolution_difference[] = { /* The rotation difference is calculated from the angle. *
100, 99, 97, 96, 95,
93, 92, 91, 89, 88,
87, 86, 84, 83, 82,
81, 79, 78, 77, 76,
75, 73, 72, 71, 70,
69, 67, 66, 65, 64,
62, 61, 60, 59, 58,
56, 55, 54, 52, 51,
50, 48, 47, 46, 44,
43 };
ted from the angle. */