%% Compute Unicycle Odometry Using Wheel Encoder Ticks and Angular Velocity
% Create a wheelEncoderOdometryUnicycle System object.

whlEncOdom = wheelEncoderOdometryUnicycle;

% Specify the number of wheel encoder ticks and angular velocity.

ticks = [5; 2];
angVel = [0.2; 0.2];

% Compute the unicycle odometry.

[pose,vel] = whlEncOdom(ticks,angVel)

% Copyright 2020 The MathWorks, Inc.