@sh.add_function(
dsp, inputs_kwargs=True, outputs=['wheel_speeds'],
inputs=['motor_p4_front_speeds', 'motor_p4_front_speed_ratio']
)
@sh.add_function(
dsp, inputs_kwargs=True, outputs=['wheel_speeds'],
inputs=['motor_p4_rear_speeds', 'motor_p4_rear_speed_ratio']
)
def calculate_wheel_speeds(motor_p4_speeds, motor_p4_speed_ratio=1):
"""
Calculates rotating speed of the wheels [RPM].
:param motor_p4_speeds:
Rotating speed of motor P4 [RPM].
:type motor_p4_speeds: numpy.array | float
:param motor_p4_speed_ratio:
Ratio between motor P4 speed and wheel speed [-].
:type motor_p4_speed_ratio: float
:return:
Rotating speed of the wheel [RPM].
:rtype: numpy.array | float
"""
return motor_p4_speeds / motor_p4_speed_ratio