I have required information: size of a robot, radius of wheels and so on.
Also I have an object that the robot should pass around.
I know its absolute position and the robots position as well.
I need to calculate the wheels' velocity to follow a circle path around an object.
Velocity is an abstract value in this case - I need to find just a relation between provided properties.
For example if I set velocity of the right motor to 4 and the left motor to the -4 it will rotate around its own axis (approx.). If I set the left to 0 and the right one to 4 it will move anti-clockwise.