Differential Drive Kinematics & Wheel Odometry

When building autonomous rovers, converting desired linear velocity (`v`) and angular velocity (`w`) into individual wheel RPMs requires precise kinematic matrix transformation.


The Kinematics Matrix

```cpp // C++ Differential Velocity Calculation void calculateWheelVelocities(double v, double w, double track_width, double wheel_radius) { double left_velocity = (v - (w * track_width / 2.0)) / wheel_radius; double right_velocity = (v + (w * track_width / 2.0)) / wheel_radius; // Send PWM to STM32 H-Bridge Motor Driver } ```

1. Encoder Pulse Counting

Quad-encoder interrupts track tick deltas to compute odometry matrices every 10ms.

2. Kalman Filter Fusion

Combine noisy wheel ticks with 6-DOF IMU accelerometer readings to eliminate drift over distance.