%% Compute Differential-Drive Vehicle Odometry Using Wheel Encoder Ticks
% Create a wheelEncoderOdometryDifferentialDrive System object.

whlEncOdom = wheelEncoderOdometryDifferentialDrive;

% Specify the number of wheel encoder ticks.

ticks = [5 5; 2 2];

% Compute the differential-drive vehicle odometry.

[pose,vel] = whlEncOdom(ticks)

% Copyright 2020 The MathWorks, Inc.