Turns encoder steps into the distance and speed of the wheel they turn with.
Creates a scale from the steps per wheel revolution and the wheel radius in meters; each magnitude is used.
Returns the distance, in meters, a wheel rolled for a step count.
Returns the speed, in meters per second, from the steps counted over dt, or 0 when dt is 0.
dt
Turns encoder steps into the distance and speed of the wheel they turn with.