Use when writing code for a two-wheeled robot (differential drive) — driving straight, turning, odometry, or velocity control. Provides exact kinematics (v_l/v_r to linear/angular velocity and back), turning-radius math, encoder odometry with slip-aware error budgets, motor deadband compensation (~2
Use when writing code for a two-wheeled robot (differential drive) — driving straight, turning, odometry, or velocity control. Provides exact kinematics (v_l/v_r to linear/angular velocity and back), turning-radius math, encoder odometry with slip-aware error budgets, motor deadband compensation (~20% PWM), gyro-assisted straight-line driving, point turns vs arc turns, and working MicroPython, Ard